Event

Paper proposes ROS 2 plugin-based compliant control framework

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Mihael Simonič and Xiaocong Li published a paper proposing a robot-agnostic compliant control framework: a plugin-based execution architecture separates ROS controller boilerplate code from control law implementations and extends the ROS control ecosystem. The framework uses Pinocchio to compute robot kinematics and dynamics from URDF models, standardizes joint and Cartesian command interfaces, and supports motion references, stiffness and damping gains, null-space targets, desired interaction force/torque vectors, and independent feedforward inputs. The paper states that real-robot curved-surface following experiments demonstrated the utility of online task-aligned compliance, while simulations demonstrated the framework's portability across robotic arms with different kinematic and dynamic characteristics. The complete framework (including reference controllers, high-level task interfaces, and example configurations) is provided as open-source software.