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Online contact impedance identification for robotic systems

By Amir Haddadi and Keyvan Hashtrudi-Zaad


In this paper, we study the performance of various algorithms for fast online identification of environment\ud impedance during robotic contact tasks. In particular, we\ud evaluate and compare algorithms with regard to their convergence\ud rate, computational complexity and sensitivity to noise\ud for different environments using a single degree-of-freedom\ud experimental setup. The results provide some guidelines for choosing an appropriate identification algorithm for a specific\ud application

Topics: Wiskunde en Informatica, online identification, impedance, robotics, algorithms
Year: 2008
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