A wrench-aware admittance controller estimates unknown payload mass and CoM offset from wrist force-torque measurements during translational motion to reduce unintended compliant motion and improve transport and placement accuracy.
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Wrench-Aware Admittance Control for Unknown-Payload Manipulation
A wrench-aware admittance controller estimates unknown payload mass and CoM offset from wrist force-torque measurements during translational motion to reduce unintended compliant motion and improve transport and placement accuracy.