Transcript Emma report

This week
• Fixed two bugs of simulation
– Actuator keeped moving while supposed to reach
the length limit in the experiment
– Comparison ignored the rest frames when
simulation is stopped as closure happened which
led to the miss of post-sliding after actuator
touches one peg in the experiment
• Improve calibration script for better data
organization
Parameters
• Calibration results has two trends
– For the paper comparison, contact point # is important, small
friction coefficient is favorable, but it has bad comparison result
with the cases that have shape incoming angle
http://www.cs.rpi.edu/~zhangl15/calibrationProblem.html
• Tried linear function between friction coefficient and
incoming angle, calibration result is better but not very
good
– Incoming angle changes greatly in some experiment. If there is a
relationship between the two, this friction coefficient need to
be changing correspondingly or at least a good average estimate.
The calculation now is done with the initial incoming angle of
experiment.
Fast-pushing
• Did experiment with Jeremy on fast-pushing
• After vision data extraction, found great speed
variance, hard to determine a speed setting
for simulation
More
• Work for writing the paper