Frequency-aware Decomposition Learning for Sensorless Wrench Forecasting on a Vibration-rich Hydraulic Manipulator

ArXi:2604.12905v1 Announce Type: cross Force and torque (F/T) sensing is critical for robot-environment interaction, but physical F/T sensors impose constraints in size, cost, and fragility. To mitigate this, recent studies have estimated force/wrench sensorlessly from robot internal states. While existing methods generally target relatively slow interactions, tasks involving rapid interactions, such as grinding, can induce task-critical high-frequency vibrations, and estimation in such robotic settings remains underexplored.