SOURCE-LINKED INTELLIGENCE

System Identification of Admittance Models for Large Real-World Objects

arXiv · AI, language, vision and robotics · article · Aug 30, 2026 · UTC

Simulation of admittance-type models requires physically consistent dynamic models that are rarely available for off-the-shelf, everyday objects, limiting the fidelity of haptic interfaces that rely on such simulations. This paper presents the first complete workflow for producing physically consistent models of large real-world objects with various constraints and mechanisms, guaranteeing physical consistency of inertia and friction parameters. The workflow separates each object and identifies the handle and body in two stages, requiring no torque sensors at hinges, axles, or other constraine

Read original source ↗ Open in workspace

recordType

paper

region

Global