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Benchmarks
External joint torque estimation on Follower WAM arm
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1.22
Joint 2 NRMSE (%)
2c-GC-FF
0.7604
3.8627
6.965
10.0673
Jul 1, 2026
Joint 2 NRMSE (%)
Joint 4 NRMSE (%)
Updated 24d ago
Evaluation Results
Method
Method
Links
Joint 2 NRMSE (%)
Joint 4 NRMSE (%)
2c-GC-FF
Controller=2c-GC-FF
2026.07
1.22
2.62
2c-DC
Controller=2c-DC
2026.07
5.95
9.54
4c-GC
Controller=4c-GC
2026.07
8.31
5.83
2c-GC
Controller=2c-GC
2026.07
11.14
10.99
4c-DC
Controller=4c-DC
2026.07
11.72
9.93
2c-GC-LFB
Controller=2c-GC-LFB
2026.07
12.71
5.11
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