Encyclopedia of Robotics

Living Edition
| Editors: Marcelo H. Ang, Oussama Khatib, Bruno Siciliano

Computed-Torque Control

Living reference work entry
DOI: https://doi.org/10.1007/978-3-642-41610-1_91-1


This entry presents an introduction to computed-torque control, a well-established model-based motion control approach for robotic manipulators, which can be seen as a special case of inverse dynamics control. Extensions of computed-torque control (i.e., the so-called computed-torque like control schemes) are then briefly discussed. Application examples and future directions for research are discussed at the end of the entry.

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Authors and Affiliations

  1. 1.Scuola di IngegneriaUniversità degli Studi della Basilicata, Viale dell’Ateneo Lucano 10PotenzaItaly

Section editors and affiliations

  • Ciro Natale
    • 1
  1. 1.Dipartimento di IngegneriaUniversità degli Studi della Campania Luigi VanvitelliAversaItaly