NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception
Differentiable simulators have advanced policy learning and model-based control, yet actuator dynamics remain an important source of sim-to-real error. This is particularly acute on low-cost platforms, where the linear current-to-torque relation $τ= K_tI$ becomes unreliable during commanded-target tracking because of friction, hysteresis, backlash, and thermal effects. We present NeuralActuator, a neural actuator model that jointly predicts (i) a simulator-equivalent generalized-effort surrogate for trajectory propagation on low-cost servo platforms, (ii) external force with a contact-probabil
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- LinkedLinked via arxiv author · 85%Zhiyang Dou →
“NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception”
- LinkedLinked via arxiv author · 85%John U. Onyemelukwe →
“NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception”
- LinkedLinked via arxiv author · 85%Hangxing Zhang →
“NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception”
- LinkedLinked via arxiv author · 85%Terry Jingcheng Zhang →
“NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception”
- LinkedLinked via arxiv author · 85%Minghao Guo →
“NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception”
- LinkedLinked via arxiv author · 85%Yunsheng Tian →
“NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception”
- LinkedLinked via arxiv author · 85%Michal Piotr Lipiec →
“NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception”
- LinkedLinked via arxiv author · 85%Joshua Jacob →
“NeuralActuator: Neural Actuation Modeling for Robot Dynamics and External Force Perception”