Yang-Chieh Lin

Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback

In this work, we propose a haptic update control law that uses reaction torques to correct axial misalignment during robotic valve manipulation. Unlike vision-based estimates, which can be affected by calibration errors, occlusion, and uncertainty in the contact geometry, reaction torques arise directly from the physic...