How important is gravity compensation in climbing and legged robots?

Gravity compensation in robotics is a technique used to balance the gravitational forces acting on a robot, which allows it to move more efficiently and with greater stability. This technique involves compensating for the gravitational forces that act on the robot’s joints and limbs, which can cause it to lose balance and stability.

In climbing and legged robots, gravity compensation is particularly important because it is the fundamental component that appear in the dynamic model of the robot, since the velocity and acceleration is quite small.

See in the video how a trajectory is commanded and how only the gravity compensation makes the robot to be quiet (ceiling and walls).