Enhancing Sim-to-Real Transfer for a High-Gear-Ratio Quadruped Robot via Extended Actuator Dynamics Identification
An augmented friction model that incorporates the Stribeck effect to capture the low-velocity nonlinearities characteristic of high-gear-ratio actuators and indicates that explicitly modeling low-velocity friction is beneficial for high-fidelity sim-to-real transfer in high-reduction systems.
Hansol Kang, Hyunyong Lee, Jiman Park et al.
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