// AI news · 2026-11-10 · NVIDIA
NVIDIA Holoscan 5 Enables Gravity Compensation in Robot Arms
NVIDIA Holoscan 5 enables gravity compensation in robot arms using a real-time control loop with Pinocchio.
Published 2026-11-10 03:09 (Beijing time)Source NVIDIAAuto-summarised, fact-checked against source
01Summary
The system runs at 400 Hz, processes joint states, and sends torque commands via motorbridge. Control operators are grouped in partitions to minimize latency, with drop-oldest queues preventing data accumulation. Profiling shows up to 9.6x latency reduction in Python when pinned to a CPU core.
Summarised from the original article by an open-source model, then checked automatically: every number and English name must appear in the source. The original article is authoritative.
02Key points
- 400 Hz gravity compensation loop using Pinocchio and reBot Arm B601-DM.
- Control partitioning reduces cross-thread overhead and jitter.
- Validated on Jetson Orin Nano, Thor, and x86 Ubuntu 24.04.
- Latency reduced by up to 9.6x with CPU core pinning in Python.
03Source
Make a Robot Arm Feel Weightless with NVIDIA Holoscan 5
NVIDIA · published 2026-11-10 03:09 Beijing time
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