2025
Corrections to "Learning the Inverse Hitting Problem"
RA-L 2025
The author list in [1] is updated by adding André Schakkal, due to his contribution to the work.
5 accepted papers
The author list in [1] is updated by adding André Schakkal, due to his contribution to the work.
This letter presents a data collection framework and a learning model to understand the motion of an object after being subject to an impulse. The data collection framework consists of an automated dual arm setup hitting an object to each other, like a collaborative air-hockey game. An impact aware
In this letter, a cascaded loop force control is implemented on a robot while considering the flexibility of the force sensor connecting the end effector to the tool. A classical frequency approach using a bandwidth and a phase margin is used to tune this controller. The aim is to find an equivalenc
Knowledge of the mass and inertial parameters of a humanoid robot is crucial for the development of model-based controller and motion planning in dynamics situation. Parameters are usually provided from Computer Aided Design (CAD) data and thus inaccurate specially if the robot is modified over time…
This paper presents a novel optimization method for generating persistently exciting trajectories for inertial parameters identification of a robot. The exciting performance of the trajectories is usually evaluated by the condition number of the regressor matrix, which appears in the linear regressi…