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In multi-point contact systems, precise force control is crucial forachieving stable and safe interactions between robots and their environment.Thus, we demonstrate an admittance controller with auto-tuning that can beapplied for these systems. The controller's objective is to track the targetwrench profiles of each contact point while considering the additional torquedue to rotational friction. Our admittance controller is adaptive during onlineoperation by using an auto-tuning method that tunes the gains of the controllerwhile following user-specified training objectives. These objectives includefacilitating controller stability, such as tracking the wrench profiles asclosely as possible, ensuring control outputs are within force limits thatminimize slippage, and avoiding configurations that induce kinematicsingularity. We demonstrate the robustness of our controller on hardware forboth manipulation and locomotion tasks using a multi-limbed climbing robot.

Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter