VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
Fuente:
arXiv
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| Autori principali: | , , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| Soggetti: | |
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| _version_ | 1866913151853789184 |
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| author | Zhang, Lingwei Wang, Jiaming Zhang, Tianlin Song, Zhitao Zeng, Xuanqi Xia, Weipeng Li, Zhongyu Liu, Yun-hui |
| author_facet | Zhang, Lingwei Wang, Jiaming Zhang, Tianlin Song, Zhitao Zeng, Xuanqi Xia, Weipeng Li, Zhongyu Liu, Yun-hui |
| contents | Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction. We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints. Hardware experiments on electric actuators and a wheel-legged quadruped show that VRA removes unrealizable accelerations, restores consistent near-constraint execution, and reduces constraint-induced oscillations. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_10696 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation Zhang, Lingwei Wang, Jiaming Zhang, Tianlin Song, Zhitao Zeng, Xuanqi Xia, Weipeng Li, Zhongyu Liu, Yun-hui Robotics Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits. However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction. We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints. Hardware experiments on electric actuators and a wheel-legged quadruped show that VRA removes unrealizable accelerations, restores consistent near-constraint execution, and reduces constraint-induced oscillations. |
| title | VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation |
| topic | Robotics |
| url | https://arxiv.org/abs/2605.10696 |