Dynamic Task Execution using Active Parameter Identification with the Baxter Research Robot
Dynamic Task Execution using Active Parameter Identification with the Baxter Research Robot
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Ithaca: Cornell University Library, arXiv.org
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English
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Ithaca: Cornell University Library, arXiv.org
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This paper presents experimental results from real-time parameter estimation of a system model and subsequent trajectory optimization for a dynamic task using the Baxter Research Robot from Rethink Robotics. An active estimator maximizing Fisher information is used in real-time with a closed-loop, non-linear control technique known as Sequential Ac...
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Dynamic Task Execution using Active Parameter Identification with the Baxter Research Robot
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TN_cdi_proquest_journals_2076628561
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https://devfeature-collection.sl.nsw.gov.au/record/TN_cdi_proquest_journals_2076628561
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E-ISSN
2331-8422
DOI
10.48550/arxiv.1709.03474
