#ImpedanceControl
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Learned #manipulation policies are fluent until a #robot touches a surface. Pairing a Transformer #DiffusionModel with energy-consistent #ImpedanceControl; runs real-time torque control on a KUKA LBR iiwa w/ 100% success on multi-geometry peg-in-hole.
https://ieeexplore.ieee.org/document/11623710
Illustration of a robot arm and a human hand resting above the robot arm as it applies pressure on a surface. Illustration of the nominal zero-force trajectory during deployment (ZFT, light blue) and the reconstructed simulated zero-force trajectory (sZFT, skin color), generated by the diffusion model. The ground-truth sZFT was created by teleoperation, which tracked the wrist frame {W} and serves as an input to the robot controller to move the end-effector frame {EE}. In the illustration, the ZFT is just a straight line. However, due to the external wrench during contact, the Diffusion model will reconstruct the sZFT to imitate the demonstrated behavior. Autonomously, the robot will adapt its compliant behavior through impedance to smoothly go over the obstacle.
October 28, 2026 at 4:03 PM