Gravity compensation
The software process of subtracting the expected force and torque caused by the weight of the tool and any payload from the raw force-torque sensor reading, leaving only the true contact force. Requires accurate tool mass and center-of-mass parameters and the current sensor orientation from the robot's kinematics.
Defined in 2 GAGE programs, which carry 4 distinct definitions of it. The wording above is taught in Foundations of Robotics and Physical AI.
How each discipline defines it
The same term does different work depending on who is using it. These are the definitions as each program teaches them, unedited.
The software process of subtracting the expected force and torque caused by the weight of the tool and any payload from the raw force-torque sensor reading, leaving only the true contact force. Requires accurate tool mass and center-of-mass parameters and the current sensor orientation from the robot's kinematics.
A mechanical or control approach that offsets the constant gravitational load on a joint, using a counterweight, a tuned spring, or an active control scheme, so that a motor's torque budget is spent on the task at hand rather than continuously fighting gravity. Given full treatment in (see Topic 2.4).
An engineering technique, using a counterweight, a spring, or a similar passive element, to offset the force of gravity acting on a joint or a linkage, reducing or eliminating the holding torque a motor would otherwise need to supply to keep the joint in position.
Any design approach, mechanical or software-based, that cancels or reduces the torque a joint's actuator must supply to hold a mass-loaded position against gravity, so that continuous holding torque does not have to come entirely from active motor effort.
Where it is taught
The exact lessons this term appears in. The first module of every program is free with a free account.
- Force, torque, and tactile sensing for contact · Sensors That Give a Robot Its Senses, Foundations of Robotics and Physical AI
- The smartest robot is rarely the one with the most motors · Mechanical Intelligence, the Art of Removing Motors, Engineering Judgment and Professional Formation
- Passive mechanics, springs, and counterweights · Mechanical Intelligence, the Art of Removing Motors, Engineering Judgment and Professional Formation
- Gravity compensation and energy storage · Mechanical Intelligence, the Art of Removing Motors, Engineering Judgment and Professional Formation
Where it shows up at work
A definition is where Gravity compensation starts. The lessons above teach it inside the competencies below, which are what job descriptions ask for and what the GAGE credential records. Every link here is drawn from the same careers map that builds a role's readiness check.
Assures AI systems that can cause physical harm: hazard analysis, safety cases, runtime monitors, and the standards evidence a regulator or a court will ask for.
One lesson on this page teach it as a primary outcome.
Understands AI that acts in the physical world: perception stacks, vision language action models, sim to real transfer, sensor fusion, and where each of them fails.
One lesson on this page teach it as a primary outcome.
Roles that hire for it
Each role page shows the full competency set, what the seat decides, and a readiness check against your own evidence.
- Robotics AI Engineer, embodied systems editionneeds it at depth
- Physical AI Safety Engineer, autonomous systems editionneeds it at depth
- Autonomous Systems Governance Lead, robotics and physical AI editionneeds working knowledge
How job descriptions say it
Postings rarely use the textbook word. These are the phrases the careers map reads as asking for the competencies above.
Where the frameworks place it: EU AI Act; EU Machinery Regulation; ISO 10218; ISO/TS 15066.
One interview question about it
A collaborative robot's learned policy updates monthly. What evidence do you need before each update reaches the floor, and who signs it?
Asked of candidates for physical ai safety assurance. Answering it in your own words is exactly how a GAGE topic is passed, and the credential records the pass where an employer can check it.
Terms it appears with
Not an alphabetical neighbourhood: these are the terms taught in the same lessons, ranked by how often they appear together.