Addressing Constraint Robustness to Torque Errors in Task-Space Inverse Dynamics


Task-Space Inverse Dynamics (TSID) is a wellknown optimization-based technique for the control of highlyredundant mechanical systems, such as humanoid robots. One of its main flaws is that it does not take into account any of the uncertainties affecting these systems: poor torque tracking, sensor noises, delays and model uncertainties. As a consequence, the… (More)


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