Geometric Robot Dynamic Identification: A Convex Programming Approach

Recent work has shed light on the often unreliable performance of constrained least-squares estimation methods for robot mass-inertial parameter identification, particularly for high degree-of-freedom systems subject to noisy and incomplete measurements. Instead, differential geometric identificatio...

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Bibliographic Details
Published in:	IEEE transactions on robotics Vol. 36; no. 2; pp. 348 - 365
Main Authors:	Lee, Taeyoon, Wensing, Patrick M., Park, Frank C.
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.04.2020 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Aerodynamics Calibration and identification Computational geometry Computational modeling Constraints Convergence Convexity Degrees of freedom Differential geometry Differential thermal analysis Divergence dynamics Ellipsoids Identification methods Invariants Legged locomotion Mathematical programming Optimization Parameter estimation Parameter identification Regularization Robot kinematics Robots
ISSN:	1552-3098, 1941-0468
Online Access:	Get full text
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