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Torque control benchmarking

Grant number: 21/15179-2
Support type:Scholarships abroad - Research Internship - Master's degree
Effective date (Start): June 01, 2022
Effective date (End): November 30, 2022
Field of knowledge:Engineering - Mechanical Engineering
Principal researcher:Thiago Boaventura Cunha
Grantee:Victor Takao Bernardino Shime
Supervisor abroad: Marco Hutter
Home Institution: Escola de Engenharia de São Carlos (EESC). Universidade de São Paulo (USP). São Carlos , SP, Brazil
Research place: Swiss Federal Institute of Technology Zurich, Switzerland  
Associated to the scholarship:20/12730-7 - Investigation of the influency of practical aspects of controllers performance, BP.MS


The project's main objective is to extend the methodology to classify force/torque controllers. It is currently under development and it will be extended to include rotary motion using electric actuators. The project will use a test bench developed, for this purpose, at the Robotics Systems Lab at ETHZ. During the project, the torque control performance of several electrical actuators and their control algorithms will be compared. This work will complement the analysis currently being done on linear hydraulic actuators. (AU)

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