LETS: Low-Overhead External-Torque Sensing for Force-Feedback Bilateral Teleoperation

Key points

• However, manufacturer-provided disturbance-torque estimates on commercial robotic arms are often inaccurate, while the use of end-effector force/torque sensors adds cost and payload.1
• We propose LETS, a physics-guided learning approach that assigns rigid-body dynamics to recursive Newton-Euler inverse dynamics and reserves learning for only the robot-specific residual.1
• LETS uses only the robot's URDF model and joint feedback, deliberately excluding control commands and thereby decoupling external-torque estimation from control-command inputs.1
• In bilateral teleoperation, LETS achieves real-time external-torque estimation that enables stable force feedback.1

Sources (1)

• [1]LETS: Low-Overhead External-Torque Sensing for Force-Feedback Bilateral Teleoperation
  arXiv (AI, ML, NLP, CV, robotics, multi-agent) · Oct 10, 01:10 PM

  Bilateral teleoperation with force feedback is becoming increasingly important, and the quality of external-torque estimation is critical to this process.

  However, manufacturer-provided disturbance-torque estimates on commercial robotic arms are often inaccurate, while the use of end-effector force/torque sensors adds cost and payload.

Extractive summary: sentences quoted from the sources.