Torque control enables agile and robust robot motion, but deployment is often hindered by instability and hardware limits. Here, we present a novel solution to execute whole-body linear feedback at up to 40 kHz on open-source hardware. We use this to interpolate non-linear schemes during real-world execution, such as inverse dynamics and learned torque policies. Our results show that by stabilizing torque controllers, high-frequency linear feedback could be an effective route towards unlocking the potential of torque-controlled robotics.
@article{arxiv.2509.24175,
title = {Very High Frequency Interpolation for Direct Torque Control},
author = {Rafael Kourdis and Maciej Stępień and Jérôme Manhes and Nicolas Mansard and Steve Tonneau and Philippe Souères and Thomas Flayols},
journal= {arXiv preprint arXiv:2509.24175},
year = {2025}
}