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Robotic Valve Turning: Axial Misalignment Correction Using Reaction Torque Feedback

arXiv · AI, language, vision and robotics · article · Sep 21, 2026 · UTC

In this work, we propose a haptic update control law that uses reaction torques to correct axial misalignment during robotic valve manipulation. Unlike vision-based estimates, which can be affected by calibration errors, occlusion, and uncertainty in the contact geometry, reaction torques arise directly from the physical interaction between the gripper and valve. A geometric relationship exists between the error (misalignment) vector and these torques. The primary aim of this work is to propose a stable controller exploiting this geometric property. Our control law is proven to be uniformly as

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