Distinguishability and identifiability of contact states

Debus, T.; Dupont, Pierre E.

doi:10.1109/robot.2004.1307977

Cited by 1 publication

(3 citation statements)

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“…3. The contact equations characterizing the two models are presented in (23) and (24). Note that (23) and (24) are globally identifiable models obtained by selecting p 5 = q 5 = 1 and p 6 = q 6 = 0.…”

Section: Example 4: Distinguishability Of Polyhedral Vertex-face Contmentioning

confidence: 99%

“…Definition 3 is applied to the equations formed by combining the three first-order coefficients of (23) and (24) together with the final equations of (23) and (24) in the form of (10).…”

Section: Example 4: Distinguishability Of Polyhedral Vertex-face Contmentioning

confidence: 99%

“…Building on our previous work [24], a Taylor series approach is developed to analytically test distinguishability and identifiability of algebraic models which are non-linear in both the parameters and sensor values. The method can be used to select sensors and models during the design phase of a contact state estimator and is independent of the estimation technique selected for implementation.…”

Section: Introductionmentioning

confidence: 99%

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Distinguishability and identifiability testing of contact state models

Debus¹,

Dupont²,

Howe³

2005

Advanced Robotics

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Abstract-An important component of compliant motion control is the estimation of contact states during task execution. This paper addresses two fundamental questions that must be answered when formulating mathematical descriptions of contact states: are the contact states distinguishable from each other? and can the unknown or imprecisely known parameters in these descriptions be identified? An analytical method is presented for evaluating the distinguishability and identifiability questions of a set of contact state models described by non-linear algebraic equations. In contrast to existing, on-line numerical techniques, this approach can be used during the design phase of a contact state estimator to select contact models and robot sensors to ensure feasibility of the estimator. The approach is illustrated using contacts between polygonal and polyhedral objects.

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Section: Example 4: Distinguishability Of Polyhedral Vertex-face Contmentioning

confidence: 99%

“…Definition 3 is applied to the equations formed by combining the three first-order coefficients of (23) and (24) together with the final equations of (23) and (24) in the form of (10).…”

Section: Example 4: Distinguishability Of Polyhedral Vertex-face Contmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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