Learning-based adaption of robotic friction models

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Philipp Scholl, Maged Iskandar, Sebastian Wolf, Jinoh Lee, Aras Bacho, Alexander Dietrich, Alin Albu-Schäffer, Gitta Kutyniok

Published: 01 Jan 2024, Last Modified: 13 May 2025Robotics Comput. Integr. Manuf. 2024EveryoneRevisionsBibTeXCC BY-SA 4.0
Abstract: Highlights•Residual learning for generalized friction torque modeling.•Significant performance improvement on new dynamics.•Generalization with minimal data by building upon previous models.