用虚拟模型控制让机器人稳定切菜，无需预设路径。
Periodic robust robotic rock chop via virtual model control
- 设计切换虚拟机构生成周期性切削动作。
- 实现1秒1刀、厚度1-6毫米的亚毫米级切分精度。
- 适配不同刀具和机械臂，具强鲁棒性与通用性。
机器人切割是一项挑战性极高的接触密集型操作任务，需同时应对未知物体力学特性、大接触力及精确运动要求。本文提出一种物理结构化的虚拟模型控制器，通过切换虚拟机构生成稳健、周期性的摆动切削动作，无需预设轨迹或精确环境信息。运动由环境、机器人动力学与虚拟力相互作用生成，最终通过实际执行器实现。理论分析与实验验证表明，系统可收敛至稳定周期运动。在Franka机械臂上实验显示，对五种蔬菜均实现稳健切割，切厚1-6毫米时精度达亚毫米级，速度接近每秒一刀。控制器在刀具形状或切板高度变化下仍保持高性能，并成功移植至另一款人形机械臂，展现优异鲁棒性与平台独立性。
原文摘要 · Abstract (English)
Robotic cutting is a challenging, contact-rich manipulation task where the robot must simultaneously negotiate unknown object mechanics, large contact forces, and precise motion requirements. Our hypothesis is that this complexity can be alleviated through the design of a physically structured virtual-model controller that uses switched virtual mechanisms to generate a robust, rhythmic rock-chop motion for robotic cutting, without requiring pre-planned trajectories or precise environmental information. Motion is generated by the interaction between the environment, the robot's dynamics, and the virtual forces of the switching virtual mechanism, ultimately realized through the available actuation. Through theoretical analysis and experimental validation, we demonstrate that the controlled robot behavior settles into a stable periodic motion. Experiments with a Franka manipulator demonstrate robust cuts across five different vegetables, achieving sub-millimeter slice accuracy for thicknesses from 1 mm to 6 mm at a rate of nearly one cut per second. The controller maintains high performance despite changes in knife shape or cutting board height, and successfully adapts to a different humanoid manipulator, demonstrating robustness and platform independence.
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