Accurate Kinematic Modeling using Autoencoders on Differentiable Joints
Nikolas Wilhelm,Sami Haddadin,Rainer Burgkart,Patrick Van Der Smagt,Maximilian Karl,Nikolas Wilhelm,Sami Haddadin,Rainer Burgkart,Patrick Van Der Smagt,Maximilian Karl
In robotics and biomechanics, accurately determining joint parameters and computing the corresponding forward and inverse kinematics are critical yet often challenging tasks, especially when dealing with highly individualized and partly unknown systems. This paper unveils a cutting-edge kinematic optimizer, underpinned by an autoencoder-based architecture, to address these challenges. Utilizing a ...
