getLWRTauFriction.m

function tauf = getLWRTauFriction(dq)

    tauf = zeros(7,1);

	A(1) = 1.367178760529738;
	A(2) = 0.593298601298723;
	A(3) = 0.594340205341727;
	A(4) = 0.641188804940645;
	A(5) = 0.488523366004480;
	A(6) = 0.694147114329783;
	A(7) = 0.700856327291113;

	k(1) = -0.456165716798872;
	k(2) = -0.056350440380958;
	k(3) = -0.366618398941555;
	k(4) = -0.103054363305159;
	k(5) = -0.118343669297900;
	k(6) = -0.469190652060420;
	k(7) = -0.791974221915346;

	qdotsign(1) = -0.015673287862576;
	qdotsign(2) = 0.024813830113222;
	qdotsign(3) = -0.046246530774813;
	qdotsign(4) = -0.011593577210853;
	qdotsign(5) = 3.679302830903592e-04;
	qdotsign(6) = 0.037109762484126;
	qdotsign(7) = 0.054060356332795;

	alpha(1) = 1.957926305620739e+02;
	alpha(2) = 52.849323228714450;
	alpha(3) = 16.397958892701237;
	alpha(4) = 3.904294743019694e+02;
	alpha(5) = 34.761397340540150;
	alpha(6) = 25.702041597230487;
	alpha(7) = 24.441355779748225;

    for i=1:7
        tauf(i) = k(i) + A(i)/(1+exp(-alpha(i)*(dq(i)+qdotsign(i))));
    end
end