Simeon Nedelchev
Task planning supplies references.
Estimation supplies state information.
Feedback and the actuator interface determine the applied forces.
Flight and stance permit different forces.
Friction and unilateral contact constrain ground reaction forces.
Joint targets include a downstream servo.
Torque commands expose a different interface.
Controller comparisons must include that distinction.
Policy: 50 Hz
PD servo: 1 kHz
Moving PD to 50 Hz changes the system even with identical policy weights.
A baseline, paired evaluation cases, an ablation, and failure analysis.
Configuration and numerical outputs accompany the demonstration.
Which conclusions follow from your experiments?
Which claims would require a different robot, distribution, or physical test?
Reading: Tedrake, Underactuated Robotics MIT Manipulation notes