Robustness to joint-torque-tracking errors in task-space inverse dynamics

HIGHLIGHTS

• who: Andrea del Prete and Nicolas Mansard from the (UNIVERSITY) have published the research: Robustness to Joint-Torque-Tracking Errors in Task-Space Inverse Dynamics, in the Journal: (JOURNAL)
• what: The authors propose to improve the robustness of TSID by modeling uncertainties in the joint torques either as Gaussian random variables or as bounded deterministic variables. When the resulting optimization problem too computationally expensive for online control the authors propose ways to approximate it that lead to computation times below 1 ms. The authors focus on the case where uncertainties only affect the decision variables . . .
  

   

  

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