Identification

This section walks through the end-to-end identification pipeline: building the test bench, recording trajectories, and fitting a friction model.

• Hardware Setup
  • Pendulum geometry
  • Bill of materials
  • Supported actuators
  • Mechanical recommendations
• Data Acquisition
  • Installation
  • Available trajectories
  • Recording scripts
  • Recording strategy
  • Raw data format
  • Processing
• Fitting
  • Running the fit
  • Optimization options
  • Validation split
  • Fitting all models
  • Output file
  • Evaluating and visualizing results
  • Weights & Biases logging
• Contributing a Model
  • What to include
  • Parameter file format
  • Quality checklist
  • Submitting