Author

Yuri Ivanov

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Open access Jul 2026

NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception

This work validates NeuralActuator on a 5-DoF OpenManipulator-X, a 6-DoF SO-101 from LeRobot, and a 7-DoF Franka Emika Panda, spanning three actuator families and costs from approximately \$500 to more than \$30{,}000.

Zhiyang Dou, John U. Onyemelukwe, Hang Zhang et al. · Robotics · 0 citations