The example section of the paper states an optimization problem. Is it correct, that the joint torques and external forces are part of the optimization? From my best understanding, this problem seeks to minimize ddq subject to constraints. It is stated that tau and f are minimized, too.
Yes it is correct. This controller solves for joint accelerations and contact forces, while this controller solves for joint accelerations , torques and contact forces
dmronga
commented
6 months ago
Please always advise if incorrect.
The example section of the paper states an optimization problem. Is it correct, that the joint torques and external forces are part of the optimization? From my best understanding, this problem seeks to minimize ddq subject to constraints. It is stated that tau and f are minimized, too.
Refers https://github.com/openjournals/joss-reviews/issues/6696