multipanda_ros2：多机器人实时ROS2框架缩小仿真到现实差距

1. 12:00
   arXiv · Software Engineering

   multipanda_ros2：面向 Franka 多机器人系统的实时 ROS2 框架，缩小仿真到现实差距

   multipanda_ros2 是一个开源 ROS2 架构，可从单进程控制任意数量 Franka 机器人，支持实时扭矩控制并维持 1kHz 控制频率。该框架引入 controllet 特征设计模式，将控制器切换延迟降至 ≤2ms，并集成高保真 MuJoCo 仿真与动力学辨识以缩小 sim-to-real 差距。已发表于 IEEE ICRA 2026，源码公开。

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