Robot kinematic structure classification from time series of visual data

11 Mar 2019 · Libera Alberto Dalla, Terzi Matteo, Rossi Alessandro, Susto Gian Antonio, Carli Ruggero ·

In this paper we present a novel algorithm to solve the robot kinematic structure identification problem. Given a time series of data, typically obtained processing a set of visual observations, the proposed approach identifies the ordered sequence of links associated to the kinematic chain, the joint type interconnecting each couple of consecutive links, and the input signal influencing the relative motion. Compared to the state of the art, the proposed algorithm has reduced computational costs, and is able to identify also the joints' type sequence.

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Robot kinematic structure classification from time series of visual data

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