Chaitainya Kuppar Reddy

Context-Aware Force Estimation for Deformable Tool Manipulation in Robotic Environmental Swabbing via Few-Shot Continual Adaptation

Siavash Mahmoudi, Chaitainya Kuppar Reddy, Yang Tian, Dongyi Wang

Robotic surface swabbing requires sustained interaction between a compliant tool and heterogeneous environments, where accurate estimation of tip-level contact force is critical for consistent sampling performance. However, deformable tool dynamics introduce nonlinear viscoelasti…Read more