Author

Carl Glen Henshaw

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Preprint Aug 2026

Force/Torque-Based Kinematic Adaptation for Robotic Manipulation Tasks

An adaptive scheme that estimates the kinematic relationship between a robot's joints and the task features it senses online, using only joint-angle sensing and a wrist-mounted force/torque sensor, with no exteroceptive measurement of the tool tip is developed.

Carl Glen Henshaw · 0 citations