A simulator-side normalization method (S3N) reduces the sim-to-real gap for parallel-link legged robots by restoring actuator and linkage inertia in a serial-tree dynamics model.
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Bridging the Sim-to-Real Gap in Parallel-Link Leg Mechanisms via Simulator-Side Dynamics Normalization
A simulator-side normalization method (S3N) reduces the sim-to-real gap for parallel-link legged robots by restoring actuator and linkage inertia in a serial-tree dynamics model.