search

stack-of-tasks / sot-torque-control

Collection of dynamic-graph entities aimed at implementing torque control on different robots.
Other
9 stars 15 forks source link

Account for rotor inertias in ForceTorqueEstimator #2

Closed andreadelprete closed 6 years ago

andreadelprete commented 7 years ago

Currently the ForceTorqueEstimator does not account for rotor inertias when estimating the joint torques. This is not coherent with the inverse-dynamics balance controller, which instead accounts for them.

proyan commented 6 years ago

closed with 8718a78