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

- Source: arXiv cs.RO
- Published: 2026-10-19T04:00:00.000Z
- RoboHot: https://robohot.news/en/items/qdtmwtaj6ezdcqnivv9sfj9rn
- Original: https://arxiv.org/abs/2610.15558

## Summary

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.