Article

Analytic Robot Self-Model: Learning Screw-Axis Kinematics for Rendering and Model-Based Control

The paper proposes an explicit analytic robot self-model that requires neither deformation networks nor URDF/CAD templates. From multi-view images and joint readings, it obtains appearance and rigid link assignments, and independently identifies metric screw axes using sparse end-effector poses, yielding closed-form forward kinematics and an analytic Jacobian that can be extrapolated.

Part of the event: Proposes an analytical robot self-modeling method

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