Physical Property Estimation and Knife Trajectory Optimization During Robotic Cutting
Xiaoqian Mu,Yan-Bin Jia,Xiaoqian Mu,Yan-Bin Jia
Dexterous robotic cutting needs to demonstrate a skill level with smooth and efficient knife movements. The work performed by the knife mainly generates fracture and overcomes the blade-material friction. This paper presents a recursive least-squares method that repeatedly estimates relevant physical parameters such as Poisson's ratio, fracture toughness, and coefficient of friction, all varying w...
