- 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".

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)

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 :)