Over the last decade, industrial robots have evolved from well-established position-controlled systems to collaborative and soft robots. In 2017 we introduced the tactile lightweight robot system Franka Emika Robot, characterized by advanced safety control, force sensing, joint torque and force control, hand-guiding performance, and the novel tactile programming paradigm DESK. In the meantime, the system has become a well-adopted reference platform for robotics research in AI and machine learning, manipulation, control, humanrobot interaction, and motion planning.
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