Kenya Mori

Active Learning for Exciting Motion Generation With Safety Constraint: Toward Reducing Model-Reality Gap in Inertial Parameters

Inertial parameters should be estimated accurately for precise robot control and simulation. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Exciting motions</i>, motions that sufficiently excite all robot dynamics, must be generated to obtain these