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3D model matching has been widely studied in computer vision, graphics and robotics. While there is much success made in the matching of natural objects, most of these approaches consider smooth surfaces and are not suitable for computer aided design (CAD) models because of their complex topology and singular structures. This paper presents a novel spectral approach for the 3D CAD model matching in...
Accurate models of the robot dynamics allow the design of significantly more precise, energy-efficient and more compliant computed torque control for robots. However, in some cases the accuracy of rigid-body models does not suffice for sound control performance due to unmodeled nonlinearities such as hydraulic cables, complex friction, or actuator dynamics. In such cases, learning the models from...
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