Inertial parameters characterize an object’s motion under
applied forces, and can provide strong priors for planning and control of
robotic actions to manipulate the object.
However, these parameters
are not available a-prior in situations where a robot encounters new objects.
In this paper, we describe and categorize the ways that a robot can identify an
object’s inertial parameters. We also discuss grasping and manipulation methods
in which knowledge of inertial parameters is exploited in various ways.
We begin with a discussion of literature which investigates how
humans estimate the inertial parameters of objects, to provide background and
motivation for this area of robotics research.
We frame our discussion of the
robotics literature in terms of three categories of estimation methods,
according to the amount of interaction with the object: purely visual, exploratory, and fixed-object. Each category is
analyzed and discussed.
To demonstrate the usefulness of inertial estimation research,
we describe a number of grasping and manipulation applications that make use of
the inertial parameters of objects.
The aim of the paper is to thoroughly review and categorize
existing work in an important, but under-explored, area of robotics research,
present its background and applications, and suggest future directions.
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