Frequency-aware decomposition learning for sensorless wrench estimation in vibration-rich robotic contact

Excerpt

arXiv:2604.12905v2 Announce Type: replace-cross Abstract: Force and torque (F/T) sensors enable contact-aware control by providing reactive feedback, but they are often fragile and expensive. To overcome these limitations, sensorless methods estimate F/T or wrench solely from robot proprioception, and have shown success in slow interaction tasks such as grasping. However, their low-pass characteristics limit the estimation of high-frequency signals, which are critical in rapid-contact tasks such