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Kinematics-based estimation of contact constraints using only proprioception.
Valerio Ortenzi
Hsiu-Chin Lin
Morteza Azad
Rustam Stolkin
Jeffrey A. Kuo
Michael N. Mistry
Published in:
Humanoids (2016)
Keyphrases
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parameter estimation
global constraints
linear constraints
estimation accuracy
real time
constraint satisfaction
data mining
genetic algorithm
multiscale
geometric constraints
estimation algorithm
robust estimation
closed form solutions
estimation process