Circular trajectory tracking under step force on MuJoCo Menagerie Franka FR3 model Benchmark I
11.5RMS Total Error (mm)Impedance MPC
Evaluation Results
| Method | Links | ||||
|---|---|---|---|---|---|
| Impedance MPCControl rate=100 Hz, Disturbance estimator=None2026.06 | 11.5 | 2.2 | 3 | 2.8 | |
| Impedance MPC + KalmanControl rate=100 Hz, Disturbance estimator=Augmented Kalman2026.06 | 11.5 | 0.6 | 2.5 | 0.05 | |
| Impedance MPC + KalmanControl rate=500 Hz, Disturbance estimator=Augmented Kalman2026.06 | 12.8 | 0.2 | 0.8 | 0.05 | |
| Impedance MPCControl rate=500 Hz, Disturbance estimator=None2026.06 | 13 | 0.8 | 1.1 | 1.1 | |
| Classical ImpedanceDisturbance estimator=None2026.06 | 35.6 | 41.1 | 51.8 | 44.8 | |
| PI ImpedanceDisturbance estimator=Integral, Kint=80 N/(m·s)2026.06 | 36.2 | 27.4 | 43.7 | 21.4 | |
| AdmittanceDisturbance estimator=Virtual spring, Ka=100 N/m2026.06 | 113.9 | 174.7 | 210.5 | 186.7 |