# Plug, Play and Comply: A Plugin-Based Compliant Control Framework in ROS 2

- Source: arXiv cs.RO
- Published: 2026-10-27T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/kbn62f9e8tjabefogxcjl0akq
- Original: https://arxiv.org/abs/2607.22483

## Summary

The paper proposes a robot-agnostic compliant control framework that separates ROS controller boilerplate from control-law implementation through a plugin-based execution architecture, extending the ROS control ecosystem. The framework uses Pinocchio to compute robot kinematics and dynamics from URDF models, and its standardized joint and Cartesian command interfaces support motion references, stiffness and damping gains, nullspace targets, desired interaction wrenches, and independent feedforward inputs.