Reaching Task on 7-DOF arm lemniscate trajectory (5 trials)
1.3Final Position Error (||Δp||) [m]2DoF + DoB
Evaluation results
| Method | Links | ||
|---|---|---|---|
| 2DoF + DoBController Type=2-DoF + Disturbance Observer, Transfer=zero-shot2026.07 | 1.3 | 1.8 | |
| 2DoFController Type=2-DoF2026.07 | 2.6 | 1 | |
| CascadeController Type=PID cascade2026.07 | 3.7 | 6.1 | |
| PDController Type=Simple PD, Status=Tuned2026.07 | 4.7 | 6.5 |