Sensorless contact forces estimation for robotic manipulators using dual-stage temporal-residual neural network compensation
31 Dec 2026·
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1 min read
Yi Zhou
Yim Ho Cheung
Shuai Liu
Fu Chung Law
Yu Shi
L. Han
Molong Duan
Zhou, Y., Cheung, Y.H., Liu, S., Law, F.C., Shi, Y., Han, L., Duan, M.*, 2026, “Sensorless contact forces estimation for robotic manipulators using dual-stage temporal-residual neural network compensation,” Control Engineering Practice, 176, 107140.
Authors
PhD Student
Vibration compensation in additive manufacturing; Cable-driven parallel robots
Authors
Postdoctoral Fellow
Robust control; Reinforcement learning; Robotic locomotion and manipulation
Authors
Assistant Professor
Molong Duan leads the Manufacturing and Aerospace Automation Lab at HKUST.
His research spans dynamic-system modeling and control, robotic and additive
manufacturing, continuous-fiber composites, flexible aircraft, and VTOL control.