Frequency-aware Decomposition Learning for Sensorless Wrench Forecasting on a Vibration-rich Hydraulic Manipulator

Hyeonbeen Lee, Min-Jae Jung, Tae-Kyeong Yeu +3

Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent stu…