---
publication_id: "OT-2026-000001449"
title: "Robotic manipulator and systems and methods of control"
published_at: "2026-09-15T19:05:54.398013Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001449"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1633"
  - "b25j9/1633"
  - "b25j13/08"
  - "b25j13/084"
  - "b25j13/084"
  - "b25j9/16"
---

# Robotic manipulator and systems and methods of control

## Abstract

Systems and methods for improving dexterous and extrinsic manipulation of robotic manipulators in the presence of uncertain force readings from tactile sensors include a force estimator, a force planner, and a controller. These components employ algorithms that determine a range of safe operating configurations of the manipulator (e.g., positions and/or joint angles of fingers in a robotic hand) that result in stable manipulation of objects, even with the uncertainty of the tactile measurements.