Skip to main content
. Author manuscript; available in PMC: 2021 Apr 1.
Published in final edited form as: IEEE Robot Autom Lett. 2020 Feb 10;5(2):2642–2649. doi: 10.1109/lra.2020.2972880

Fig. 6.

Fig. 6.

Box plot showing error distribution and variability over the nine sweeping motions. The iterative estimation of the disturbance wrench using sensor data allows for significant reduction in the rotation error for both modelling frameworks.