{"paper":{"title":"VRA: Grounding Discrete-Time Joint Acceleration in Voltage-Constrained Actuation","license":"http://creativecommons.org/licenses/by/4.0/","headline":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators.","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiaming Wang, Lingwei Zhang, Tianlin Zhang, Weipeng Xia, Xuanqi Zeng, Yun-hui Liu, Zhitao Song, Zhongyu Li","submitted_at":"2026-05-11T15:11:45Z","abstract_excerpt":"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 r"},"claims":{"count":4,"items":[{"kind":"strongest_claim","text":"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.","source":"verdict.strongest_claim","status":"machine_extracted","claim_id":"C1","attestation":"unclaimed"},{"kind":"weakest_assumption","text":"That the voltage-constrained actuator model used to compute realizable accelerations accurately captures all relevant physical limits without significant unmodeled effects such as delays or friction.","source":"verdict.weakest_assumption","status":"machine_extracted","claim_id":"C2","attestation":"unclaimed"},{"kind":"one_line_summary","text":"VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability.","source":"verdict.one_line_summary","status":"machine_extracted","claim_id":"C3","attestation":"unclaimed"},{"kind":"headline","text":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators.","source":"verdict.pith_extraction.headline","status":"machine_extracted","claim_id":"C4","attestation":"unclaimed"}],"snapshot_sha256":"c9c06819bac8234ae57df65155f2f7f1a5151381f130cf55a11783f208b90392"},"source":{"id":"2605.10696","kind":"arxiv","version":2},"verdict":{"id":"0cb5f309-5269-4cb8-a4f3-e32470cfa5e8","model_set":{"reader":"grok-4.3"},"created_at":"2026-05-12T04:28:50.036059Z","strongest_claim":"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.","one_line_summary":"VRA is a new acceleration interface that grounds discrete-time joint commands in voltage-constrained electric actuator physics to ensure realizability.","pipeline_version":"pith-pipeline@v0.9.0","weakest_assumption":"That the voltage-constrained actuator model used to compute realizable accelerations accurately captures all relevant physical limits without significant unmodeled effects such as delays or friction.","pith_extraction_headline":"Commanded joint accelerations must be restricted to voltage-realizable values to be physically executable on electric actuators."},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.10696/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"claim_evidence","ran_at":"2026-05-20T05:22:00.459584Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T14:38:03.461953Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"doi_title_agreement","ran_at":"2026-05-19T11:01:17.088968Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"doi_compliance","ran_at":"2026-05-19T09:03:05.012826Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"14732bc1b601f7d2872bb931aba8b2332268c5ee38ce01486da636c7d920d116"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}