40kHz高频反馈让扭矩控制更稳定，助力机器人敏捷运动
Very High Frequency Interpolation for Direct Torque Control
- 在开源硬件上实现40kHz高频线性反馈控制
- 稳定扭矩控制器，提升非线性策略执行效果
- 适合想用低成本硬件实现高性能扭矩控制的研究者
扭矩控制可实现机器人敏捷且鲁棒的运动，但部署常受不稳定性和硬件限制阻碍。本文提出一种新方法，在开源硬件上实现高达40 kHz的全身线性反馈控制。利用该能力，可在真实执行中对非线性控制方案（如逆动力学和学习型扭矩策略）进行插值。结果表明，通过稳定扭矩控制器，高频线性反馈是释放扭矩控制机器人潜力的有效途径。
原文摘要 · Abstract (English)
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.
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