Efficient Configuration Exploration in Inverse Dynamics Acquisition of Robotic Manipulators
Farshad Khadivar Sthithparagya Gupta Walid Amanhoud Aude Billard Farshad Khadivar Sthithparagya Gupta Walid Amanhoud Aude Billard
The inverse dynamics of a robotic manipulator is instrumental in precise robot control and manipulation. However, acquiring such a model is challenging, not only due to unmodelled non-linearities such as joint friction, but also from a machine learning perspective (e.g., input space dimension, amount of data needed). The accuracy of such models, regardless of the learning techniques, relies on pro...