Mass Estimation of a Moving Object Through Minimal Manipulation Interaction
Sergio Aguilera Muhammad Ali Murtaza Ye Zhao Seth Hutchinson Sergio Aguilera Muhammad Ali Murtaza Ye Zhao Seth Hutchinson
In this paper, we study the problem of dynamic interaction between a robot and an unknown object (e.g., catching a ball, or handing off an object during locomotion). In particular, we propose a method for estimating the inertial parameters of an object during dynamic interaction, while minimally altering the trajectory of the object – a minimal interaction approach. Our method combines trajectory ...