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Adaptive control of the EV3 lego robot used for calibrating the minimal simulation. The effects of adaptation over two different desired trajectories are shown. Without adaptation, the joints q do not reach the desired qd when qd is large (which is when the external force is largest). With adaptation, q is closer to qd after about 5 s, showing that the system has quickly learned to compensate. Points in time where the improvement is clearest are circled.
