Publication

Impact Aware Extended Kalman Filter

Aude Billard
2024

Abstract

This paper proposes an impact aware extended Kalman filter to predict the final position of a known cuboidal object when subjected to an impulse through a manipulator. The discontinuous impulse motion equations are approximated through a continuous hitting force model by balancing the energies during collision. The results are tested on an experimental setup consisting of KUKA lbr iiwa 7 arm hitting a known object.

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