Simulator-side normalization that adds actuator inertia redistribution and residual linkage inertia to serial-tree models of parallel-link legs reduces sim-to-real motion, torque, and force errors by 60-82%.
Model sim- plification for dynamic control of series–parallel hybrid robots: A representative study on the effects of neglected dynamics,
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Bridging the Sim-to-Real Gap in Parallel-Link Leg Mechanisms via Simulator-Side Dynamics Normalization
Simulator-side normalization that adds actuator inertia redistribution and residual linkage inertia to serial-tree models of parallel-link legs reduces sim-to-real motion, torque, and force errors by 60-82%.