Estimating An Object’s Inertial Parameters By Robotic Pushing: A Data-Driven Approach
Nikos Mavrakis,Amir M. Ghalamzan E.,Rustam Stolkin,Nikos Mavrakis,Amir M. Ghalamzan E.,Rustam Stolkin
Estimating the inertial properties of an object can make robotic manipulations more efficient, especially in extreme environments. This paper presents a novel method of estimating the 2D inertial parameters of an object, by having a robot applying a push on it. We draw inspiration from previous analyses on quasi-static pushing mechanics, and introduce a data-driven model that can accurately repres...
