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  • Atilla Saadat

Mujin Inc. Internship - Dynamics Identification for Industrial Robotics

Updated: Oct 20, 2019

Developed a multi-purpose robot Dynamics Identification Feature for the Mujin Controller, "The world's first motion planning AI-equipped intelligent robot controller".


Friction Test Results with Friction Coefficient Estimates

Dynamics Identification Feature improves the performance of the robot motion planning by improving the robot torque model. The feature estimates the coefficients for:

- Motor Friction (viscous, coulomb)

- Mass & COM of Links

- Inertia Tensor




Results are visualized in simulation using experimental results (inertia pose validation shown in right video)


Fully developed production code, now shipped on Mujin controllers for use by Industry (PALTAC, Askul, JD.com, others)


COM visualization dev tool

Integrated automated robot test trajectory generation


Developed proprietary data analysis, fitting, and optimization tools & algorithms


Refined UX/UI data visualization tools unique for dynamics validation



Short cameo of me working on dynamics identification feature @ 0:33 :)

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