Picture guiding a robot arm by hand while its motors supply just enough torque to support its weight and keep the robot upright. This simple interaction, a...Picture guiding a robot arm by hand while its motors supply just enough torque to support its weight and keep the robot upright. This simple interaction, a useful starting point for robots that learn by demonstration, manipulate objects, or work alongside people, depends on a gravity-compensation loop. Building such a loop is only possible by continuously calculating the inverse dynamics of…
