force-control 开源项目推荐（32 个）

flexivrobotics /flexiv_rdk

Robotic Development Kit (RDK) for Flexiv robots. Supports C++ and Python. Compatible with Linux, macOS, Windows, and QNX.

jhaardt /wrs

Force controlled assembly process. In real and simulated environment. Using Universal Robots UR5, ROS, Gazebo.

PINE-Lab-NTU /FACET

Facet-0: A Robotic Foundation Model for Contact-Rich Precise Manipulation (arXiv 2609.01596)

unisa-acg /actor-critic-model-predictive-force-controller

Related paper: "Experimental Validation of an Actor-Critic Model Predictive Force Controller for Robot-Environment Interaction Tasks"

isri-aist /ForceControlCollection

Force control functions for robot control

sjkncs /DevClaw-Robot

6-DOF desktop robotic arm with 7-phase algorithm stack: dynamics, trajectory planning, impedance control, force sensing, teach mode, safety monitoring & Feishu bot integration. Built on STM32F4/F1 + CAN bus. Derivative of Dummy Robot by peng-zhihui.

flexivrobotics /flexiv_sim_plugin

A middleware plugin to connect Flexiv Elements Studio to any external simulator. Supports C++ and Python. Compatible with Linux only.

HisayoshiMuramatsu /QDOB

QDOB - Quasiperiodic Disturbance Observer

mahyaret /Neural-Network-Hybrid-Control

Neural Network Based Hybrid Force/Position Control

evan-palmer /bravo-admittance-control

An admittance controller for the Reach Bravo 7 manipulator.

SII-ZijunX /ForceWAM

Code repository for ForceWAM: Decoupling Future and Response Learning from Demo and Play Data for Contact-Rich Manipulation. Code coming soon.

EthanXing-xyy /ImplicitRDP-ForceLoop

Does tactile prediction help? ImplicitRDP + a hard-coded normal-force loop in TacSL sim: measured vs predicted vs true pressure, noise curve, probes, video

mhayman9 /franka_panda_ros2

Desk-wiping controller for the Franka Panda (ROS 2 Humble, MuJoCo and real robot), based on multipanda_ros2

Sahilnarola-1007 /portable-force-skill

Documentation for a frozen force-control skill that ports across position/velocity-commanded cobots via a locked interface contract. Validated on Kinova Gen3.

Ziv-ZHI /lingxi-polish

C++/Qt host-computer software suite for a collaborative robotic polishing cell: constant-force control with a 6-axis F/T sensor, EtherCAT 2 ms, hand-eye calibration, trajectory planning, process DB, edge gateway and a WeChat mini program (iCAN / HFUT).

IoannisDadiotis /fss_thesis

Diploma thesis concerning the development of a force sensory system for a small fabric gripper and formation control of two wheeled mobile robots based on fabric force feedback

yuva24-oec /surgical-force-safety-monitor

MATLAB simulation of a UR5e surgical robot performing a laparoscopic trajectory with tissue-adaptive PID force control and safety watchdog. Models soft tissue, organ wall, and cortical bone using spring-damper mechanics. Watchdog halts tool in 10ms. Verified per ISO 13485 and IEC 60601-1.

salikshah /wall-painter-robot

An open-source wall sanding and finishing robot. Force-controlled sanding in MuJoCo, with a dry-rehearsed real-arm stack.

JS-Rokey3-Project /Rokey-Collaboration1

Doosan M0609 도미노 적층·전도 — 힘 제어 + 베지어 경로 보간

guan695 /rg2_ft

NVIDIA Isaac Sim keyboard teleoperation and force-controlled grasping for UR5/UR5e using Lula IK, RG2-FT force/torque sensing, and fingertip lidar.