The paper presents a dual‑rate controller for robotic ultrasound that limits probe rotation speed to keep contact force within safe bounds. By deriving a closed‑form orientation‑rate limit that accounts for contact stiffness, force‑loop gains, and disturbance rejection, the authors implement a timestamp‑based delay reconstruction and joint‑torque force estimation. Experiments on a gelatin phantom show that the rate‑limited controller reduces first‑second RMS force error by 0.40 N, while a fixed rate cap near the predicted ceiling offers similar force performance but faster convergence.
Ctrl‑F introduces a hierarchical motion‑force framework that augments humanoid motion tracking with explicit 3‑D force commands at designated contact points. The system combines a unified motion‑force controller that follows reference motion while applying the commanded force, and a high‑level force planner that generates force commands online based on object state and proprioception. In both simulation and hardware experiments, Ctrl‑F successfully performs loco‑manipulation tasks requiring sustained interaction forces—such as dragging, pushing, lifting, and kicking—handling loads up to 20 kg and adapting to additional mid‑task loads, outperforming force‑blind trackers.
By Mengjie Zhao, Yuxin Chen, Yiyang Shao, Chuye Hong, Jiakang Chen, Koushil Sreenath, Masayoshi Tomizuka
arXiv:2607. 09218v1 Announce Type: cross Abstract: Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and break.
By Rishabh Madan, Angchen Xie, Samantha Saak, Andres Blanco, Dohyeok Lee, Sarah Grace Brown, Yunting Yan, Mark Zolotas, Jose Barreiros, Tapomayukh Bhattacharjee
arXiv:2606. 14188v1 Announce Type: cross Abstract: We present CORD-SLS, a real-time control method for safe deformable object manipulation, with a focus on ropes and cloth.
By Wei-Chen Li, Jeffrey Fang, Sasanka Polisetti, Yuexi Song, Glen Chou
arXiv:2607. 11734v1 Announce Type: cross Abstract: Differentiable simulators have advanced policy learning and model-based control, yet actuator dynamics remain an important source of sim-to-real error.
By Zhiyang Dou, John U. Onyemelukwe, Hangxing Zhang, Heng Zhang, Minghao Guo, Yunsheng Tian, Michal Piotr Lipiec, Joshua Jacob, Chao Liu, Peter Yichen Chen, Yuri Ivanov, Wojciech Matusik
arXiv:2607. 09218v2 Announce Type: replace-cross Abstract: Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and break.
By Rishabh Madan, Angchen Xie, Samantha Saak, Andres Blanco, Dohyeok Lee, Sarah Grace Brown, Yunting Yan, Mark Zolotas, Jose Barreiros, Tapomayukh Bhattacharjee