Closed andreadelprete closed 6 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.
closed with 8718a78
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.