David Jorge

Efficient Learning of Inverse Dynamics Models for Adaptive Computed Torque Control

2022 · 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Modelling robot dynamics accurately is essential for control, motion optimisation and safe human-robot collaboration. Given the complexity of modern robotic systems, dynamics modelling remains non-trivial, mostly in the presence of compliant actuators, mechanical inaccuracies, friction …