Image-Based Joint State Estimation Pipeline for Sensorless Manipulators
Mingjie Han,Bowen Xie,Martin Barczyk,Alireza Bayat,Mingjie Han,Bowen Xie,Martin Barczyk,Alireza Bayat
Motion planning is a largely solved problem for robot arms with joint state feedback, but remains an area of research for sensorless manipulators such as toy robot arms and heavy equipment such as excavators and cranes. A promising approach to this problem is deep learning, which employs a pre-trained convolutional neural network to identify manipulator links and estimate joint states from a monoc...
