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Torque estimator for actuators that contain an elastic coupling. It also generates the ground contact forces (traction and reaction) for systems that have leg-wheels such as the asguard system
rock-control/control-orogen-torque_estimator
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Torque estimator for actuators that contain an elastic coupling. It also generates the ground contact forces (traction and reaction) for systems that have leg-wheels such as the asguard system
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