143 citations · 378 across the 39 of their papers we have counts for
3 papers · 1 filter
A Geometric Characterization of Observability in Inertial Parameter Identification
Patrick M. Wensing, Günter Niemeyer, Jean-Jacques E. Slotine
This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the…
Cooperative Adaptive Control for Cloud-Based Robotics
Patrick M. Wensing, Jean-Jacques E. Slotine
This paper studies collaboration through the cloud in the context of cooperative adaptive control for robot manipulators. We first consider the case of multiple robots manipulating…
Linear Matrix Inequalities for Physically-Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution
Patrick M. Wensing, Sangbae Kim, Jean-Jacques Slotine
With the increased application of model-based whole-body control in legged robots, there has been a resurgence of research interest into methods for accurate system identification.…