Mass Estimation of a Moving Object Through Minimal Manipulation Interaction
Sergio Aguilera,Muhammad Ali Murtaza,Ye Zhao,Seth Hutchinson,Sergio Aguilera,Muhammad Ali Murtaza,Ye Zhao,Seth Hutchinson
In this paper, we study the problem of dynamic interaction between a robot and an unknown object (e.g., catching a ball, or handing off an object during locomotion). In particular, we propose a method for estimating the inertial parameters of an object during dynamic interaction, while minimally altering the trajectory of the object – a minimal interaction approach. Our method combines trajectory ...
