Optimal exciting motion for fast robot identification. Application to contact painting tasks with estimated external forces

Takuma Katsumata 1 Benjamin Navarro 2 Vincent Bonnet 3 Philippe Fraisse 2 André Crosnier 2 Gentiane Venture 1
1 TUAT - Tokyo University of Agriculture and Technology
2 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 UPEC UP12 - Université Paris-Est Créteil Val-de-Marne - Paris 12
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Journal articles
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-02011328
Contributor : Isabelle Gouat <>
Submitted on : Thursday, February 7, 2019 - 7:15:13 PM
Last modification on : Thursday, February 28, 2019 - 2:38:23 PM

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LIRMM | UPEC-UPEM | IDH | MIPS | UNIV-MONTPELLIER

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Takuma Katsumata, Benjamin Navarro, Vincent Bonnet, Philippe Fraisse, André Crosnier, et al.. Optimal exciting motion for fast robot identification. Application to contact painting tasks with estimated external forces. Robotics and Autonomous Systems, Elsevier, 2019, 113, pp.149-159. ⟨10.1016/j.robot.2018.11.021⟩. ⟨lirmm-02011328⟩

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