# Task and Joint Space Dual-Arm Compliant Control

arXiv: https://arxiv.org/abs/2504.21159 · HTML: https://mlsanity.com/paper/2504.21159/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 29 Apr 2025.

## Built on by (most cited first, 1 of 1)

- [How to Peel with a Knife: Aligning Fine-Grained Manipulation with Human Preference](https://mlsanity.com/paper/2603.03280/) (2026)

## Abstract (arXiv)

Robots that interact with humans or perform delicate manipulation tasks must exhibit compliance. However, most commercial manipulators are rigid and suffer from significant friction, limiting end-effector tracking accuracy in torque-controlled modes. To address this, we present a real-time, open-source impedance controller that smoothly interpolates between joint-space and task-space compliance. This hybrid approach ensures safe interaction and precise task execution, such as sub-centimetre pin insertions. We deploy our controller on Frank, a dual-arm platform with two Kinova Gen3 arms, and compensate for modelled friction dynamics using a model-free observer. The system is real-time capable and integrates with standard ROS tools like MoveIt!. It also supports high-frequency trajectory streaming, enabling closed-loop execution of trajectories generated by learning-based methods, optimal control, or teleoperation. Our results demonstrate robust tracking and compliant behaviour even under high-friction conditions. The complete system is available open-source at https://github.com/applied-ai-lab/compliant_controllers.