{"ID":2863210,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2509.24175","arxiv_id":"2509.24175","title":"Very High Frequency Interpolation for Direct Torque Control","abstract":"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.","short_abstract":"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 i...","url_abs":"https://arxiv.org/abs/2509.24175","url_pdf":"https://arxiv.org/pdf/2509.24175v1","authors":"[\"Rafael Kourdis\",\"Maciej Stępień\",\"Jérôme Manhes\",\"Nicolas Mansard\",\"Steve Tonneau\",\"Philippe Souères\",\"Thomas Flayols\"]","published":"2025-09-29T01:43:43Z","proceeding":"cs.RO","tasks":"[\"cs.RO\"]","methods":"[]","has_code":false}