2026-09-18T21:57:52Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/1063802026-06-06T00:55:46Zcom_1721.1_7582com_1721.1_7581col_1721.1_131023
Russ L. Tedrake.
Susilo, Hans (Hans V.)
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science.
Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science
2017-01-12T18:18:27Z
2017-01-12T18:18:27Z
2016
2016
http://hdl.handle.net/1721.1/106380
967656473
Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.
This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.
Cataloged from student-submitted PDF version of thesis.
Includes bibliographical references (pages 61-62).
We need better methods of dynamic parameter estimation because robots are becoming more complex and their interactions with the unmodeled world are becoming more frequent. These methods should be fast, reliable, and easily adaptable to various classes of robots. Here, we design and build a parameter estimation system in a robotic simulation and controls framework called Drake. The parameter estimation works by minimizing the error between a model and the observed data from a given trajectory. Using our estimator, we then compare the minimization of three types of errors, generated by the dynamics model, energetic model, and simulation model. We quantify the speed and performance of each algorithm on the Acrobot system.
by Hans Susilo.
M.Eng.
62 pages
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.
http://dspace.mit.edu/handle/1721.1/7582
Electrical Engineering and Computer Science.
Parameter estimation of manipulator robot dynamics
Thesis
application/pdf
Publication
unknown
unknown
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