Wrench Tracking on 100 Robot Layouts (ID)
0.0857Normalized Mean Errorlayout-independent actuation allocator
Evaluation results
| Method | Links | |||||||
|---|---|---|---|---|---|---|---|---|
| layout-independent actuation allocatorn=1000002026.07 | 0.0857 | 0.0769 | 0.1726 | 1.1244 | 0.1019 | 99.97 | 100 | |
| Sequential Quadratic Programming (SQP)n=1000002026.07 | 0.3983 | 0.211 | 1.4476 | 7.858 | 0.4914 | 72.67 | 89.2 | |
| Quadratic Programming (QP)n=1000002026.07 | 1.841 | 1.6072 | 3.9688 | 13.2264 | 2.252 | 4.88 | 23.24 |