Online Payload Identification for Tactile Robots Using the Momentum Observer

Planning Impact-Driven Logistic Tasks

“…Moreover, the shape and inertia parameters of the objects are known, which is not always the case in logistics sorting. Yet, online and fast inertia parameter estimation is possible [1] and has to be integrated as a prior task in our planning, which is certainly possible for grabbing or tossing. Yet, for boxing, we cannot escape from first impact that would allow identifying such parameters for unknown objects.…”

“…The latter is optimized for a generated samples' map. Throughout the entire letter, we assume rigid objects with known geometry and wellestimated inertial parameters [1].…”