Learning Inertial Parameter Identification of Unknown Object with Humanoid Robot using Sim-to-Real Adaptation

by   Donghoon Baek, et al.

Understanding the dynamics of unknown object is crucial for collaborative robots including humanoids to more safely and accurately interact with humans. Most relevant literature leverage a force/torque sensor, prior knowledge of object, vision system, and a long-horizon trajectory which are often impractical. Moreover, these methods often entail solving non-linear optimization problem, sometimes yielding physically inconsistent results. In this work, we propose a fast learningbased inertial parameter estimation as more practical manner. We acquire a reliable dataset in a high-fidelity simulation and train a time-series data-driven regression model (e.g., LSTM) to estimate the inertial parameter of unknown objects. We also introduce a novel sim-to-real adaptation method combining Robot System Identification and Gaussian Processes to directly transfer the trained model to real-world application. We demonstrate our method with a 4-DOF single manipulator of physical wheeled humanoid robot, SATYRR. Results show that our method can identify the inertial parameters of various unknown objects faster and more accurately than conventional methods.


page 1

page 2


Fast Object Inertial Parameter Identification for Collaborative Robots

Collaborative robots (cobots) are machines designed to work safely along...

An Energy Balance Based Method for Parameter Identification of a Free-Flying Robot Grasping An Unknown Object

The estimation of inertial parameters of a robotic system is crucial for...

The Sum of Its Parts: Visual Part Segmentation for Inertial Parameter Identification of Manipulated Objects

To operate safely and efficiently alongside human workers, collaborative...

How Heavy Is It? Humanoid Robot Estimating Physical Properties of Unknown Objects Without Force/Torque Sensors

Many robots utilize commercial force/torque sensors to identify physical...

Estimation and Exploitation of Objects' Inertial Parameters in Robotic Grasping and Manipulation: A Survey

Inertial parameters characterise an object's motion under applied forces...

Observability in Inertial Parameter Identification

We present an algorithm to characterize the space of identifiable inerti...

Transferring Physical Motion Between Domains for Neural Inertial Tracking

Inertial information processing plays a pivotal role in ego-motion aware...

Please sign up or login with your details

Forgot password? Click here to reset