In multi-point contact systems, precise force control is crucial for achieving stable and safe interactions between robots and their environment. Thus, we demonstrate an admittance controller with auto-tuning that can be applied for these systems. The controller's objective is to track the target wrench profiles of each contact point while considering the additional torque due to rotational friction. Our admittance controller is adaptive during online operation by using an auto-tuning method that tunes the gains of the controller while following user-specified training objectives. These objectives include facilitating controller stability, such as tracking the wrench profiles as closely as possible, ensuring control outputs are within force limits that minimize slippage, and avoiding configurations that induce kinematic singularity. We demonstrate the robustness of our controller on hardware for both manipulation and locomotion tasks using a multi-limbed climbing robot.

翻译：在多触点接触系统中，精确的力控制对于实现机器人与环境之间稳定且安全的交互至关重要。为此，我们提出了一种可自动整定的导纳控制器，适用于此类系统。该控制器的目标是跟踪每个接触点的目标力/力矩分布，同时考虑由旋转摩擦引起的附加力矩。通过采用在线自动整定方法，我们的导纳控制器能够根据用户指定的训练目标自适应调整控制器增益。这些目标包括促进控制器稳定性：尽可能精确地跟踪力/力矩分布、确保控制输出处于最小化滑移的力限范围内，以及避免导致运动学奇异的构型。我们通过多肢体攀爬机器人的硬件实验，验证了该控制器在操作和移动任务中的鲁棒性。