Dynamic Q to separate F_ext and F_d

Problem: Joint-torque measurements cannot distinguish between external forces F_ext and load-side disturbances F_d, we measure only their sum.

Idea: The Q filter determines if we compensate an estimated disturbance or not. We could set the Q filter dynamically (change over time) or spatially based on higher-level task information. For example, if we know what direction the contact normal is in, we can treat forces in the direction of the contact normal as F_ext, and tangential forces as F_d.

• Any other examples for dynamically setting the Q value?