arxivcs.RO2026-07-24
Plug, Play, and Comply: A Modular Framework for Online Variable Impedance with Arbitrarily Oriented Compliance Axes
The paper proposes a robot-agnostic compliant-control framework that extends the ROS control ecosystem with standardized joint and Cartesian command interfaces. It addresses a key limitation of existing control software: no reusable infrastructure for implementing compliant-contr…