Online Inertial Parameter Estimation on Teensy 4.1 MCU
480Average Runtime (µs)TAG-K
Evaluation results
| Method | Links | ||
|---|---|---|---|
| TAG-KParameters (Dimension)=40, Robot DoF (Degrees of Freedom)=4, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 480 | 4.7 | |
| TAG-KParameters (Dimension)=60, Robot DoF (Degrees of Freedom)=6, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 597 | 7.6 | |
| TAG-KParameters (Dimension)=80, Robot DoF (Degrees of Freedom)=8, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 716 | 11.1 | |
| TAG-KParameters (Dimension)=Average, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 716 | 13.2 | |
| TAG-KParameters (Dimension)=100, Robot DoF (Degrees of Freedom)=10, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 837 | 15.4 | |
| TAG-KParameters (Dimension)=120, Robot DoF (Degrees of Freedom)=12, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 950 | 20.5 | |
| KF-lowParameters (Dimension)=40, Robot DoF (Degrees of Freedom)=4, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 2,279 | — | |
| KF-highParameters (Dimension)=40, Robot DoF (Degrees of Freedom)=4, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 2,279 | — | |
| RLS-highParameters (Dimension)=40, Robot DoF (Degrees of Freedom)=4, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 2,289 | — | |
| RLS-lowParameters (Dimension)=40, Robot DoF (Degrees of Freedom)=4, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 2,292 | — | |
| KF-highParameters (Dimension)=60, Robot DoF (Degrees of Freedom)=6, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 4,535 | — | |
| KF-lowParameters (Dimension)=60, Robot DoF (Degrees of Freedom)=6, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 4,536 | — | |
| RLS-lowParameters (Dimension)=60, Robot DoF (Degrees of Freedom)=6, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 4,574 | — | |
| RLS-highParameters (Dimension)=60, Robot DoF (Degrees of Freedom)=6, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 4,574 | — | |
| KF-lowParameters (Dimension)=80, Robot DoF (Degrees of Freedom)=8, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 7,928 | — | |
| KF-highParameters (Dimension)=80, Robot DoF (Degrees of Freedom)=8, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 7,929 | — | |
| RLS-lowParameters (Dimension)=80, Robot DoF (Degrees of Freedom)=8, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 8,023 | — | |
| RLS-highParameters (Dimension)=80, Robot DoF (Degrees of Freedom)=8, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 8,025 | — | |
| KF-lowParameters (Dimension)=Average, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 9,429 | — | |
| KF-highParameters (Dimension)=Average, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 9,429 | — | |
| RLS-lowParameters (Dimension)=Average, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 9,500 | — | |
| RLS-highParameters (Dimension)=Average, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 9,500 | — | |
| KF-highParameters (Dimension)=100, Robot DoF (Degrees of Freedom)=10, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 12,850 | — | |
| KF-lowParameters (Dimension)=100, Robot DoF (Degrees of Freedom)=10, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 12,851 | — | |
| RLS-lowParameters (Dimension)=100, Robot DoF (Degrees of Freedom)=10, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 13,011 | — | |
| RLS-highParameters (Dimension)=100, Robot DoF (Degrees of Freedom)=10, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 13,011 | — | |
| KF-lowParameters (Dimension)=120, Robot DoF (Degrees of Freedom)=12, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 19,451 | — | |
| KF-highParameters (Dimension)=120, Robot DoF (Degrees of Freedom)=12, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 19,452 | — | |
| RLS-highParameters (Dimension)=120, Robot DoF (Degrees of Freedom)=12, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 19,683 | — | |
| RLS-lowParameters (Dimension)=120, Robot DoF (Degrees of Freedom)=12, Measurement window size (m)=30, Hardware=Teensy 4.1 microcontroller, Number of independent trials=102025.10 | 19,685 | — |