VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation
Abstract
Discrete-time joint acceleration constraints 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 Voltage-Realizable Acceleration (VRA), a joint-level acceleration interface that grounds kinematic acceleration in voltage-constrained actuator physics by restricting commanded accelerations to voltage-realizable constraints. Hardware experiments on electric actuators and a wheel-legged quadruped show that VRA removes unrealizable accelerations, restores consistent near-constraint execution, and reduces constraint-induced oscillations.
Cite
@article{arxiv.2605.10696,
title = {VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation},
author = {Lingwei Zhang and Jiaming Wang and Tianlin Zhang and Zhitao Song and Xuanqi Zeng and Weipeng Xia and Zhongyu Li and Yun-hui Liu},
journal= {arXiv preprint arXiv:2605.10696},
year = {2026}
}
Comments
10 pages, Accepted by RSS 2026