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| Auteurs principaux: | , , , , , , |
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| Format: | Preprint |
| Publié: |
2025
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| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2509.24175 |
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| _version_ | 1866909813374451712 |
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| author | Kourdis, Rafael Stępień, Maciej Manhes, Jérôme Mansard, Nicolas Tonneau, Steve Souères, Philippe Flayols, Thomas |
| author_facet | Kourdis, Rafael Stępień, Maciej Manhes, Jérôme Mansard, Nicolas Tonneau, Steve Souères, Philippe Flayols, Thomas |
| contents | Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body linear feedback at up to 40 kHz on open-source hardware. We use this to interpolate non-linear schemes during real-world execution, such as inverse dynamics and learned torque policies. Our results show that by stabilizing torque controllers, high-frequency linear feedback could be an effective route towards unlocking the potential of torque-controlled robotics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2509_24175 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Very High Frequency Interpolation for Direct Torque Control Kourdis, Rafael Stępień, Maciej Manhes, Jérôme Mansard, Nicolas Tonneau, Steve Souères, Philippe Flayols, Thomas Robotics Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body linear feedback at up to 40 kHz on open-source hardware. We use this to interpolate non-linear schemes during real-world execution, such as inverse dynamics and learned torque policies. Our results show that by stabilizing torque controllers, high-frequency linear feedback could be an effective route towards unlocking the potential of torque-controlled robotics. |
| title | Very High Frequency Interpolation for Direct Torque Control |
| topic | Robotics |
| url | https://arxiv.org/abs/2509.24175 |