プラグ・アンド・プレイで準拠：任意方向のコンプライアンス軸を持つオンライン可変インピーダンスのためのモジュール式フレームワーク
Plug, Play, and Comply: A Modular Framework for Online Variable Impedance with Arbitrarily Oriented Compliance Axes
ROSコントロールエコシステムを拡張し、異なるマニピュレータ間で共通インターフェースを保ちながらコンプライアンス制御を実装できるプラグインベースのロボット非依存フレームワークを提案した。
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著者: Mihael Simonič, Xiaocong Li
分類: cs.RO
原文アブストラクト
The paper proposes a robot-agnostic compliant-control framework that extends the ROS control ecosystem with standardized joint and Cartesian command interfaces. It addresses a key limitation of existing control software: no reusable infrastructure for implementing compliant-control algorithms across different manipulators while preserving a common interface to higher-level applications. A plugin-based architecture separates controller infrastructure from control-law implementation. Generic wrappers use existing hardware abstractions to interface with different manipulators, while runtime-loaded plugins implement only the control law. Command interfaces support joint- and Cartesian-space references, stiffness and damping gains, nullspace targets, and feedforward terms, enabling variable impedance and diverse compliant-control formulations. Robot kinematics and dynamics are computed from URDF models using Pinocchio. The architecture facilitates the development of compliant-control strategies and enables the same implementation to be deployed across platforms unchanged. The complete framework, including reference controllers, high-level task interfaces, and example configurations for various manipulators, is open-sourced. The reference Cartesian impedance controller supports task-dependent compliance by rotating translational and rotational stiffness and damping, allowing the principal compliance directions to be updated online according to local task geometry rather than remaining fixed in the robot base or TCP frame. This is particularly important in contact-rich manipulation, where the desired directions of motion, constraints, and compliance directions may vary throughout task execution. Real-robot experiments demonstrate task-dependent compliance in contact-rich manipulation, while simulations show portability across manipulators with distinct kinematic and dynamic characteristics.
関連論文
- 最小限のコンプライアンス制御コンプライアンス制御
- 位置制御ロボットにおけるロボットインタラクションのための位置・速度ベース順動力学コンプライアンス制御(FDCC)の評価コンプライアンス制御
