{"ID":2842692,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2511.09104","arxiv_id":"2511.09104","title":"Decoupling Torque and Stiffness: A Unified Modeling and Control Framework for Antagonistic Artificial Muscles","abstract":"Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric elastomer artificial muscle families: a separable Padé force model with a minimal two-state dynamic wrapper, a cascaded inverse-dynamics controller in co-contraction/bias coordinates, and a bio-inspired depth-adaptive interaction policy that schedules stiffness based on penetration depth. The controller runs in under 1 ms per control tick and demonstrates independent torque and stiffness tracking, including a fixed-torque stiffness-step test that preserves torque regulation through stiffness transitions. In a coupled impedance contact protocol simulated across soft-to-rigid environments, comparing depth-adaptive stiffness to fixed-stiffness baselines reveals a shock/load versus stability tradeoff. These results provide a control-oriented foundation for musculoskeletal antagonistic robots to execute adaptive impedance behaviors in dynamic interactions.","short_abstract":"Antagonistic artificial muscles can decouple joint torque and stiffness, but contact transients often degrade this independence. We present a unified real-time framework applicable across pneumatic, electrohydraulic, and dielectric elastomer artificial muscle families: a separable Padé force model with a minimal two-st...","url_abs":"https://arxiv.org/abs/2511.09104","url_pdf":"https://arxiv.org/pdf/2511.09104v3","authors":"[\"Amirhossein Kazemipour\",\"Robert K. Katzschmann\"]","published":"2025-11-12T08:23:57Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}