RIL: Riemannian Incremental Learning of the Inertial Properties of the Robot Body Schema
Fernando Díaz Ledezma Sami Haddadin Fernando Díaz Ledezma Sami Haddadin
We transform classical robot inertial parameter identification into an online learning problem by integrating state-of-the-art gradient descent techniques and first-order principles from mechanics and differential geometry. Through this, incremental learning of fully physically feasible inertial properties without requiring any prior information is made possible. This is achieved using a version o...