Research paper
Toward Interaction Dynamics: A Predictive Framework for Safe Physical Human Robot Interaction
An offset-free interaction-error MPC estimates persistent force/model error and constrains joint torque through a compact quadratic program. The latest archive version reports MuJoCo experiments on a Franka FR3 model. The demonstrated contact response is simulation evidence, with conditional mathematical results and no physical validation claim.
Reviewed 2026-11-05 · Source and bibliography checked
- Original title
- Toward Interaction Dynamics: A Predictive Framework for Safe Physical Human Robot Interaction
- Publisher
- arXiv
- Authors
- Cao, Yongyan, Tang, Jinshan
- DOI
- 10.48550/arxiv.2606.08281
- First archive posting
- 2026-06-06
- Source language
- en
- Source country
- US
- Edition
- v3
- Access
- Open archive metadata and manuscript
- Publication status
- Preprint
Related resources and engineering notes
Source overview
An offset-free interaction-error MPC estimates persistent force/model error and constrains joint torque through a compact quadratic program. The latest archive version reports MuJoCo experiments on a Franka FR3 model. The demonstrated contact response is simulation evidence, with conditional mathematical results and no physical validation claim.
Use and review
Original summary of the primary archive abstract and bibliographic record. Specialist technical and native-language review remain pending. The reported method does not establish a deployed safety function or achieved PL.
Sources & editions
Toward Interaction Dynamics: A Predictive Framework for Safe Physical Human Robot Interaction ↗
arXiv · v3
arXiv abstract, authors, submission history and DOI links; first posting 2026-06-06, abstract reviewed in v3. Publisher dates are separate.