VPP-TC: Viability-Preserving Passive Torque Control скачать в хорошем качестве

VPP-TC: Viability-Preserving Passive Torque Control

*To appear in IEEE-RAS International Conference on Robotics and Automation (ICRA 2026) Authors: Zizhe Zhang, Yicong Wang, Zhiquan Zhang, Tianyu Li, Nadia Figueroa Abstract: Conventional passivity-based torque controllers for manipulators are typically unconstrained, which can lead to safety violations under external perturbations. In this paper, we employ viability theory to pre-compute safe sets in the state-space of joint positions and velocities. These viable sets, constructed via data-driven and analytical methods for self-collision avoidance, external object collision avoidance and joint-position and joint-velocity limits, provide constraints on joint accelerations and thus joint torques via the robot dynamics. A quadratic programming-based control framework enforces these constraints on a passive controller tracking a dynamical system, ensuring the robot states remain within the safe set in an infinite time horizon. We validate the proposed approach through simulations and hardware experiments on a 7-DoF Franka Emika manipulator. In comparison to a baseline constrained passive controller, our method operates at higher control-loop rates and yields smoother trajectories. Paper: https://arxiv.org/abs/2510.03367