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impact_dataset.zip (17.65 MB)

Dataset and related MATLAB scripts for the IEEE ICRA 2021 paper "Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study"

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posted on 22.03.2021, 12:38 by Alessandro SacconAlessandro Saccon, Vincent Padois
This dataset contains impact data (recording of joint displacement encoders), together with related MATLAB scripts for visualization and post-processing, for several impact experiments performed on a KUKA IV+ collaborative robot colliding a wooden table with a spherical metallic end-effector.

The dataset is associated to the "Predicting the Post-Impact Velocity of a Robotic Arm via Rigid Multibody Models: an Experimental Study" by Ilias Aouaj, Vincent Padois, and Alessandro Saccon, accepted to ICRA 2021.

Funding

Impact Aware Manipulation by Dexterous Robot Control and Learning in Dynamic Semi-Structured Logistic Environments

European Commission

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History

Publisher

4TU.ResearchData

Format

ZIP

Organizations

Eindhoven University of Technology, Dept. of Mechanical Engineering, Dynamics and Control Section INRIA Bordeaux Sud-Ouest, AUCTUS team

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Eindhoven University of TechnologyEindhoven University of Technology

Categories

Keywords

Impact-Aware ManipulationImpactCollisionNonsmooth MechanicsDynamics

Licence

CC BY-SA 4.0

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