首次在虚拟分解控制中实现二阶阻抗，提升机器人交互精度与稳定性。
Desired Impedance Allocation for Robotic Systems
- 重构末端速度需求，引入加速度与伪阻抗项，实现二阶阻抗控制。
- 实验表明可稳定接触70%更刚的环境，轨迹跟踪与接触性能显著提升。
- 适合需要高保真力控的机器人交互任务，如手术辅助、精密装配。
虚拟分解控制（VDC）作为现实机器人控制的强大模块化框架，广泛应用于接触密集型任务。尽管应用广泛，传统VDC仅支持一阶阻抗分配，因二阶动态行为分配的数学复杂性而忽略期望惯性。然而，惯性对接触阶段动态响应及轨迹跟踪中的平稳加减速至关重要。为满足高保真交互控制需求，本文首次在VDC框架中提出实现二阶阻抗行为的方法。通过重新定义末端执行器速度，并引入所需加速度与伪阻抗项，实现了保持VDC模块性的二阶阻抗控制。严格的稳定性分析验证了控制器的鲁棒性。在7自由度触觉外骨骼上的实验表明，相比一阶方法，本方法在轨迹跟踪和接触性能上均有显著提升。特别地，引入惯性后，系统可稳定交互于70%更刚的环境，充分展现了该方法在真实接触密集场景中的有效性。
原文摘要 · Abstract (English)
Virtual Decomposition Control (VDC) has emerged as a powerful modular framework for real-world robotic control, particularly in contact-rich tasks. Despite its widespread use, VDC has been fundamentally limited to first-order impedance allocation, inherently neglecting the desired inertia due to the mathematical complexity of second-order behavior allocation. However, inertia is crucial, not only for shaping dynamic responses during contact phases, but also for enabling smooth acceleration and deceleration in trajectory tracking. Motivated by the growing demand for high-fidelity interaction control, this work introduces, for the first time in the VDC framework, a method to realize second-order impedance behavior. By redefining the required end-effector velocity and introducing a required acceleration and a pseudo-impedance term, we achieve second-order impedance control while preserving the modularity of VDC. Rigorous stability analysis confirms the robustness of the proposed controller. Experimental validation on a 7-degree-of-freedom haptic exoskeleton demonstrates superior tracking and contact performance compared to first-order methods. Notably, incorporating inertia enables stable interaction with environments up to 70% stiffer, highlighting the effectiveness of the approach in real-world contact-rich scenarios.
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