Force Control

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iCub supporting joint level torque control

Joint level torque control as will be reported below can be achieved with iCub from version 1.2 to 1.x. Version 1.1 of the iCub has not *.ini files properly configured.

Torque Control in iCub v1.x

The version of the iCub robot starting from v1.1, are not provided with joint level torque sensing (this will be a feature of iCub v2.x). The robots from version 1.1 are equipped with proximal 6-axis force/torque (F/T) sensors.