Year: 2026
Type: conference-paper
Abstract: Discrete-time joint acceleration constraints are widely used to enforce position and velocity limits.However, under voltage-constrained electric actuators, kinematically admissible accelerations may be physically unrealizable, exposing a missing execution-level abstraction.We propose Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints.Hardware experiments on electric actuators and a wheel-legged quadruped show that VRA removes unrealizable accelerations, restores consistent near-constraint execution, and reduces constraint-induced oscillations.
Source: Robotics: Science and Systems
Institution: Chinese University of Hong Kong
Language: English
Subfield: Biomedical Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: bronze
OpenAlex ID: W7204787341