A Contact Diffusion Model conditioned on force/torque readings and a signed distance field localizes single and dual robot-arm contacts with 0.44 cm and 1.24 cm real-world error.
A passivity-based nonlinear admittance control with application to powered upper-limb control under unknown en- vironmental interactions,
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CDM: Contact Diffusion Model for Multi-Contact Point Localization
A Contact Diffusion Model conditioned on force/torque readings and a signed distance field localizes single and dual robot-arm contacts with 0.44 cm and 1.24 cm real-world error.