The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects
Philippe Nadeau,Matthew Giamou,Jonathan Kelly,Philippe Nadeau,Matthew Giamou,Jonathan Kelly
To operate safely and efficiently alongside human workers, collaborative robots (cobots) require the ability to quickly understand the dynamics of manipulated objects. However, traditional methods for estimating the full set of inertial parameters rely on motions that are necessarily fast and unsafe (to achieve a sufficient signal-to-noise ratio). In this work, we take an alternative approach: by ...
