Model Identification and Control of a Low-cost Mobile Robot with Omnidirectional Wheels using Differentiable Physics
Edgar Granados,Abdeslam Boularias,Kostas Bekris,Mridul Aanjaneya,Edgar Granados,Abdeslam Boularias,Kostas Bekris,Mridul Aanjaneya
We present a new data-driven technique for pre-dicting the motion of a low-cost omnidirectional mobile robot under the influence of motor torques and friction forces. Our method utilizes a novel differentiable physics engine for analytically computing the gradient of the deviation between predicted motion trajectories and real-world trajectories. This allows to automatically learn and fine-tune th...
