Franka Research 3
Overview:
- 7 Degrees of freedom
- Precise position, velocity and torque control
- Control frequency of 1kHz
- 3 kg payload
- Interchangeable grippers (parallel ...)
- Torque sensor on each joint
- Possibility to add a camera to the wrist
- Rigid workbench and well modeled environment
- Highly customizable through large variety anchor points (for external cameras, objects, ...)
Main usages:
- Contact interaction
Current status: Usable
| Publications |
|---|
| Frictional Contact-Implicit Inverse Dynamics via Complementarity-Constrained Optimization
Pierre Fabre, Etienne Ménager, Antoine Bambade, Wilson Jallet, Alberto de Marchi, Justin Carpentier ICRA, 2026 |
Manipulation
Computer Vision
Machine Learning
Contact Estimation
Torque control