Estimating Parameters of a Revolute Joint From Observation Including Noises

Our goal is to easily generate a robot program to manipulate linkages connected by a revolute joint. The generation enables a robot to perform various everyday tasks, for example, opening a door, turning on a water tap, milling coffee beans using a coffee mill, and so on. Although one needs to set up joint parameters (axis direction and center of rotation)that are essential to manipulate linkages which are connected by the joint, one has to manually set up them in the conventional method. That causes the difficulty in the generation. Therefore we propose a novel method for estimating the parameters of a revolute joint from observation including noises.