Robotics: Science and Systems XXII

Grounding Discrete-Time Joint-Level Acceleration Bounds in Voltage-Constrained Actuation

Lingwei Zhang, Jiaming Wang, Tianlin Zhang, Zhitao Song, Xuanqi Zeng, Weipeng Xia, Zhongyu Li, Yunhui Liu

Abstract:

Discrete-time joint acceleration bounds 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 Actuator-Aware Joint Acceleration Control (AJAC), a joint-level realizability contract that grounds kinematic acceleration bounds in voltage-constrained actuator physics by operating accelerations. Hardware experiments on electric actuators and a wheel-legged quadruped show that AJAC removes unrealizable accelerations, restores consistent near-boundary execution, and reduces boundary-induced oscillations.

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Bibtex:

  
@INPROCEEDINGS{ZhangL-RSS-26, 
    AUTHOR    = {Lingwei Zhang AND Jiaming Wang AND Tianlin Zhang AND Zhitao Song AND Xuanqi Zeng AND Weipeng Xia AND Zhongyu Li AND Yunhui Liu}, 
    TITLE     = {{Grounding Discrete-Time Joint-Level Acceleration Bounds in Voltage-Constrained Actuation}}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2026}, 
    ADDRESS   = {Sydney, Australia}, 
    MONTH     = {July}, 
    DOI       = {10.15607/RSS.2026.XXII.101} 
}