This video summarizes and comple- ments the results of the companion paper by showing a subset of the simulations carried out to compare the proposed robust ...
Aug 17, 2016 · We propose to improve the robustness of TSID by modeling uncertainties in the joint torques, either as Gaussian random variables or as bounded ...
Duration: 2:31
Posted: Dec 11, 2015
Posted: Dec 11, 2015
We propose to improve the robustness of TSID by modeling uncertainties in the joint torques as additive white random noise (similarly to LQG). This results in a ...
Duration: 2:31
Posted: Nov 22, 2016
Posted: Nov 22, 2016
We introduced errors in the inertial parameters, delays in the velocity estimation, noise in the joint torques and we limited the torque bandwidth of the ...
Task-space inverse dynamics (TSID) is a well-known optimization-based technique for the control of highly redundant mechanical systems, such as humanoid robots.
Robustness to Joint-Torque Tracking Errors in Task-Space Inverse Dynamics. Implementing Torque Control with High-Ratio Gear Boxes and without Joint-Torque ...
Robustness to joint-torque-tracking errors in task-space inverse dynamics. A Del Prete, N Mansard. IEEE transactions on Robotics 32 (5), 1091-1105, 2016. 64 ...
Prete and N. Mansard, “Robustness to Joint-Torque-Tracking · Errors in Task-Space Inverse Dynamics,” IEEE T-RO, 2016.