Torque Control

Torque control, the precise regulation of rotational forces in robotic systems, aims to achieve accurate and efficient movement while ensuring safety and stability. Current research emphasizes developing robust control strategies, including those based on computed torque, hybrid quadratic programming, and reinforcement learning, often incorporating model-based approaches or deep learning for improved performance and adaptability. These advancements are crucial for enhancing the capabilities of robots in various applications, from high-speed locomotion in quadrupeds to safe human-robot collaboration in industrial settings and minimally invasive surgery. The focus is on creating controllers that are both accurate and robust to uncertainties, including actuator limitations and environmental disturbances.