├── ._.git ├── ._.gitignore ├── ._README.md ├── ._excitation ├── ._filtering ├── ._flowchart.png ├── ._identify ├── ._symoro-robots ├── .gitignore ├── README.md ├── excitation ├── ._README.md ├── ._data ├── ._figs ├── ._interface ├── ._optimal_traj_vis.m ├── ._optimize_traj_constraints_fun.m ├── ._optimize_traj_constraints_mat.m ├── ._optimize_traj_main.m ├── ._optimize_traj_nonl_constraints.m ├── ._optimize_traj_object_fun_math.m ├── ._optimize_traj_object_fun_syms.m ├── ._robot_model.m ├── ._run_optimize.m ├── ._utils ├── README.md ├── data │ ├── ._No1_excitation_trajectory_parameters_0-30-0-60-0-90-0.mat │ ├── ._No1_excitation_trajectory_parameters_0-30-0-60-0-90-0.txt │ ├── ._No2_excitation_trajectory_parameters_0-30-0-60-0-270-0.mat │ ├── ._No2_excitation_trajectory_parameters_0-30-0-60-0-270-0.txt │ ├── ._No3_excitation_trajectory_parameters_0-330-0-60-0-0-0.mat │ ├── ._No3_excitation_trajectory_parameters_0-330-0-60-0-0-0.txt │ ├── ._No4_excitation_trajectory_parameters_0-0-0-60-0-30-0.mat │ ├── ._No4_excitation_trajectory_parameters_0-0-0-60-0-30-0.txt │ ├── ._No5_excitation_trajectory_parameters_0-0-0-30-0-60-0.mat │ ├── ._No5_excitation_trajectory_parameters_0-0-0-30-0-60-0.txt │ ├── ._regression_matrix.mat │ ├── No1_excitation_trajectory_parameters_0-30-0-60-0-90-0.mat │ ├── No1_excitation_trajectory_parameters_0-30-0-60-0-90-0.txt │ ├── No2_excitation_trajectory_parameters_0-30-0-60-0-270-0.mat │ ├── No2_excitation_trajectory_parameters_0-30-0-60-0-270-0.txt │ ├── No3_excitation_trajectory_parameters_0-330-0-60-0-0-0.mat │ ├── No3_excitation_trajectory_parameters_0-330-0-60-0-0-0.txt │ ├── No4_excitation_trajectory_parameters_0-0-0-60-0-30-0.mat │ ├── No4_excitation_trajectory_parameters_0-0-0-60-0-30-0.txt │ ├── No5_excitation_trajectory_parameters_0-0-0-30-0-60-0.mat │ ├── No5_excitation_trajectory_parameters_0-0-0-30-0-60-0.txt │ ├── filtering_data_no_downsampling.mat │ ├── opt_x.txt │ └── regression_matrix.mat ├── figs │ ├── ._train │ └── train │ │ ├── ._exJointAcc.png │ │ ├── ._exJointRad.png │ │ ├── ._exJointVel.png │ │ ├── ._excit_traj_simulation.gif │ │ ├── ._plotCoord.png │ │ ├── exJointAcc.png │ │ ├── exJointRad.png │ │ ├── exJointVel.png │ │ ├── excit_traj_simulation.gif │ │ └── plotCoord.png ├── interface │ ├── ._excit_traj_continuous.cpp │ ├── ._excit_traj_maths.cpp │ ├── ._excit_traj_s_planner.cpp │ ├── ._fourier_traj.m │ ├── ._opt_x.txt │ ├── ._sinusoidal_traj.m │ ├── ._val_traj_sinusoidal.cpp │ ├── excit_traj_continuous.cpp │ ├── excit_traj_maths.cpp │ ├── excit_traj_s_planner.cpp │ ├── fourier_traj.m │ ├── opt_x.txt │ ├── sinusoidal_traj.m │ └── val_traj_sinusoidal.cpp ├── optimal_traj_vis.m ├── optimize_traj_constraints_fun.m ├── optimize_traj_constraints_mat.m ├── optimize_traj_main.m ├── optimize_traj_nonl_constraints.m ├── optimize_traj_object_fun_math.m ├── optimize_traj_object_fun_syms.m ├── robot_model.m ├── run_optimize.m └── utils │ ├── ._compare_time.m │ ├── ._forward_kine.m │ ├── ._inspect_nan.m │ ├── ._mat2txt.m │ ├── ._min_regressor.m │ ├── ._min_regressor_backup.m │ ├── ._robot_model.m │ ├── ._traj_func.m │ ├── compare_time.m │ ├── forward_kine.m │ ├── inspect_nan.m │ ├── mat2txt.m │ ├── min_regressor.m │ ├── min_regressor_backup.m │ ├── robot_model.m │ └── traj_func.m ├── filtering ├── ._README.md ├── ._acc_filter.m ├── ._ang_filter.m ├── ._data ├── ._downsampling.m ├── ._figs ├── ._figure.mat ├── ._run_filtering.m ├── ._run_filtering_by_aowupang.mlx ├── ._tmp.m ├── ._tmp.mlx ├── ._transfer_data_form.mlx ├── ._trq_filter.m ├── ._utils ├── ._vel_filter.m ├── README.md ├── acc_filter.m ├── ang_filter.m ├── data │ ├── ._excit │ ├── ._tmp │ ├── ._verify_data_from_ea │ └── excit │ │ ├── ._2023-07-22_19-42.csv │ │ ├── ._2023-07-22_19-42.txt │ │ ├── ._No0_excitation_trajectory_parameters_0-0-0-0-0-0-0.csv │ │ ├── ._No0_excitation_trajectory_parameters_0-0-0-0-0-0-0.txt │ │ ├── ._No1_excitation_trajectory_parameters_0-30-0-60-0-90-0.csv │ │ ├── ._No1_excitation_trajectory_parameters_0-30-0-60-0-90-0.txt │ │ ├── ._No2_excitation_trajectory_parameters_0-30-0-60-0-270-0.csv │ │ ├── ._No2_excitation_trajectory_parameters_0-30-0-60-0-270-0.txt │ │ ├── ._No3_excitation_trajectory_parameters_0-330-0-60-0-0-0.csv │ │ ├── ._No3_excitation_trajectory_parameters_0-330-0-60-0-0-0.txt │ │ ├── ._No4_excitation_trajectory_parameters_0-0-0-60-0-30-0.csv │ │ ├── ._No4_excitation_trajectory_parameters_0-0-0-60-0-30-0.txt │ │ ├── ._No5_excitation_trajectory_parameters_0-0-0-30-0-60-0.csv │ │ ├── ._No5_excitation_trajectory_parameters_0-0-0-30-0-60-0.txt │ │ ├── ._excit_acc_record.mat │ │ ├── ._excit_acc_record.txt │ │ ├── ._excit_ang_record.mat │ │ ├── ._excit_ang_record.txt │ │ ├── ._excit_filtering.mat │ │ ├── ._excit_torque_record.mat │ │ ├── ._excit_torque_record.txt │ │ ├── ._excit_vel_record.mat │ │ ├── ._excit_vel_record.txt │ │ ├── 2023-07-22_19-42.csv │ │ ├── 2023-07-22_19-42.txt │ │ ├── No0_excitation_trajectory_parameters_0-0-0-0-0-0-0.csv │ │ ├── No0_excitation_trajectory_parameters_0-0-0-0-0-0-0.txt │ │ ├── No1_excitation_trajectory_parameters_0-30-0-60-0-90-0.csv │ │ ├── No1_excitation_trajectory_parameters_0-30-0-60-0-90-0.txt │ │ ├── No2_excitation_trajectory_parameters_0-30-0-60-0-270-0.csv │ │ ├── No2_excitation_trajectory_parameters_0-30-0-60-0-270-0.txt │ │ ├── No3_excitation_trajectory_parameters_0-330-0-60-0-0-0.csv │ │ ├── No3_excitation_trajectory_parameters_0-330-0-60-0-0-0.txt │ │ ├── No4_excitation_trajectory_parameters_0-0-0-60-0-30-0.csv │ │ ├── No4_excitation_trajectory_parameters_0-0-0-60-0-30-0.txt │ │ ├── No5_excitation_trajectory_parameters_0-0-0-30-0-60-0.csv │ │ ├── No5_excitation_trajectory_parameters_0-0-0-30-0-60-0.txt │ │ ├── excit_acc_record.mat │ │ ├── excit_acc_record.txt │ │ ├── excit_ang_record.mat │ │ ├── excit_ang_record.txt │ │ ├── excit_filtering.mat │ │ ├── excit_torque_record.mat │ │ ├── excit_torque_record.txt │ │ ├── excit_vel_record.mat │ │ └── excit_vel_record.txt ├── downsampling.m ├── figs │ ├── ._excit │ └── excit │ │ ├── ._acc │ │ ├── ._ang │ │ ├── ._trq │ │ ├── ._vel │ │ ├── acc │ │ ├── ._Joint1Acc.png │ │ ├── ._Joint2Acc.png │ │ ├── ._Joint3Acc.png │ │ ├── ._Joint4Acc.png │ │ ├── ._Joint5Acc.png │ │ ├── ._Joint6Acc.png │ │ ├── ._Joint7Acc.png │ │ ├── Joint1Acc.png │ │ ├── Joint2Acc.png │ │ ├── Joint3Acc.png │ │ ├── Joint4Acc.png │ │ ├── Joint5Acc.png │ │ ├── Joint6Acc.png │ │ └── Joint7Acc.png │ │ ├── ang │ │ ├── ._Joint1Rad.png │ │ ├── ._Joint2Rad.png │ │ ├── ._Joint3Rad.png │ │ ├── ._Joint4Rad.png │ │ ├── ._Joint5Rad.png │ │ ├── ._Joint6Rad.png │ │ ├── ._Joint7Rad.png │ │ ├── Joint1Rad.png │ │ ├── Joint2Rad.png │ │ ├── Joint3Rad.png │ │ ├── Joint4Rad.png │ │ ├── Joint5Rad.png │ │ ├── Joint6Rad.png │ │ └── Joint7Rad.png │ │ ├── trq │ │ ├── ._Joint1Acc.png │ │ ├── ._Joint1Torque.png │ │ ├── ._Joint2Acc.png │ │ ├── ._Joint2Torque.png │ │ ├── ._Joint3Acc.png │ │ ├── ._Joint3Torque.png │ │ ├── ._Joint4Acc.png │ │ ├── ._Joint4Torque.png │ │ ├── ._Joint5Acc.png │ │ ├── ._Joint5Torque.png │ │ ├── ._Joint6Acc.png │ │ ├── ._Joint6Torque.png │ │ ├── ._Joint7Acc.png │ │ ├── ._Joint7Torque.png │ │ ├── Joint1Acc.png │ │ ├── Joint1Torque.png │ │ ├── Joint2Acc.png │ │ ├── Joint2Torque.png │ │ ├── Joint3Acc.png │ │ ├── Joint3Torque.png │ │ ├── Joint4Acc.png │ │ ├── Joint4Torque.png │ │ ├── Joint5Acc.png │ │ ├── Joint5Torque.png │ │ ├── Joint6Acc.png │ │ ├── Joint6Torque.png │ │ ├── Joint7Acc.png │ │ └── Joint7Torque.png │ │ └── vel │ │ ├── ._Joint1Vel.png │ │ ├── ._Joint2Vel.png │ │ ├── ._Joint3Vel.png │ │ ├── ._Joint4Vel.png │ │ ├── ._Joint5Vel.png │ │ ├── ._Joint6Vel.png │ │ ├── ._Joint7Vel.png │ │ ├── Joint1Vel.png │ │ ├── Joint2Vel.png │ │ ├── Joint3Vel.png │ │ ├── Joint4Vel.png │ │ ├── Joint5Vel.png │ │ ├── Joint6Vel.png │ │ └── Joint7Vel.png ├── figure.mat ├── run_filtering.mlx ├── trq_filter.m ├── utils │ ├── ._compare_motor_jointtau.m │ └── compare_motor_jointtau.m └── vel_filter.m ├── flowchart.png ├── identify ├── ._Optimal_Object_expression.m ├── ._README.md ├── ._Stribeck ├── ._data ├── ._figs ├── ._for_article ├── ._semi-parameters ├── ._traditional ├── ._two-step ├── ._utils ├── ._xMatePro3_build.m ├── Optimal_Object_expression.m ├── README.md ├── Stribeck │ ├── Optimal_Object_Stribeck.m │ ├── Optimize_constraints_Stribeck.m │ ├── README.md │ ├── compute_identified_torque_with_Stribeck_model.m │ ├── identify_dynamic_parameters_with_Stribeck.mlx │ └── verify_parameters_Stribeck.mlx ├── data │ ├── ._Semi_parameters │ ├── ._filted_No0_excitation_trajectory.mat │ ├── ._filted_No1_excitation_trajectory.mat │ ├── ._filted_No2_excitation_trajectory.mat │ ├── ._filted_No3_excitation_trajectory.mat │ ├── ._filted_No4_excitation_trajectory.mat │ ├── ._filted_No5_excitation_trajectory.mat │ ├── ._filtering_data_no_downsampling.mat │ ├── ._parameters_identified │ ├── Semi_parameters │ │ ├── ._LSTM_net_backup.mat │ │ ├── ._README.md │ │ ├── ._database.mat │ │ ├── ._net.mat │ │ ├── LSTM_net-20250112.mat │ │ ├── LSTM_net-20250214.mat │ │ ├── LSTM_net-20250215.mat │ │ ├── LSTM_net-20250219.mat │ │ ├── LSTM_net-20250412.mat │ │ ├── LSTM_net.mat │ │ ├── LSTM_net_Stribeck-20250113.mat │ │ ├── LSTM_net_backup.mat │ │ ├── LSTM_predict.onnx │ │ ├── README.md │ │ ├── RNN_net.mat │ │ ├── database.mat │ │ └── net.mat │ ├── base_parameters_identified_20250417.mat │ ├── base_parameters_identified_tmp.mat │ ├── filted_No0_excitation_trajectory.mat │ ├── filted_No1_excitation_trajectory.mat │ ├── filted_No2_excitation_trajectory.mat │ ├── filted_No3_excitation_trajectory.mat │ ├── filted_No4_excitation_trajectory.mat │ ├── filted_No5_excitation_trajectory.mat │ ├── filtering_data_no_downsampling.mat │ └── parameters_identified │ │ ├── ._Stribeck │ │ ├── ._traditional │ │ ├── ._two_step │ │ ├── Stribeck │ │ ├── ._parameters_Stribeck_2024-04-10_21-39.mat │ │ ├── ._parameters_Stribeck_2024-07-25_18-28.mat │ │ ├── parameters_Stribeck_2024-04-10_21-39.mat │ │ └── parameters_Stribeck_2024-07-25_18-28.mat │ │ ├── traditional │ │ ├── ._fmincon_no_downsampling_2024-03-25_12-08-06.mat │ │ └── fmincon_no_downsampling_2024-03-25_12-08-06.mat │ │ └── two_step │ │ ├── ._parameters_2024-04-17_13-27.mat │ │ ├── ._parameters_2024-06-16_16-19.mat │ │ ├── ._parameters_2024-06-16_16-46.mat │ │ ├── parameters_2024-04-17_13-27.mat │ │ ├── parameters_2024-06-16_16-19.mat │ │ ├── parameters_2024-06-16_16-46.mat │ │ ├── parameters_2025-04-16_20-22.mat │ │ └── parameters_2025-04-17_17-10.mat ├── figs │ ├── ._diff │ ├── ._idy │ ├── ._idy7.eps │ ├── diff │ │ ├── ._diff1.png │ │ ├── ._diff2.png │ │ ├── ._diff3.png │ │ ├── ._diff4.png │ │ ├── ._diff5.png │ │ ├── ._diff6.png │ │ ├── ._diff7.png │ │ ├── diff1.png │ │ ├── diff2.png │ │ ├── diff3.png │ │ ├── diff4.png │ │ ├── diff5.png │ │ ├── diff6.png │ │ └── diff7.png │ ├── idy │ │ ├── ._idy1.eps │ │ ├── ._idy1.png │ │ ├── ._idy2.eps │ │ ├── ._idy2.png │ │ ├── ._idy3.eps │ │ ├── ._idy3.png │ │ ├── ._idy4.eps │ │ ├── ._idy4.png │ │ ├── ._idy5.eps │ │ ├── ._idy5.png │ │ ├── ._idy6.eps │ │ ├── ._idy6.png │ │ ├── ._idy7.eps │ │ ├── ._idy7.png │ │ ├── idy1.eps │ │ ├── idy1.png │ │ ├── idy2.eps │ │ ├── idy2.png │ │ ├── idy3.eps │ │ ├── idy3.png │ │ ├── idy4.eps │ │ ├── idy4.png │ │ ├── idy5.eps │ │ ├── idy5.png │ │ ├── idy6.eps │ │ ├── idy6.png │ │ ├── idy7.eps │ │ └── idy7.png │ └── idy7.eps ├── semi-parameters │ ├── ._config_LSTM.m │ ├── ._config_fullconnect.m │ ├── ._for_paper.mlx │ ├── ._identify_semi_parameters_LSTM.mlx │ ├── ._identify_semi_parameters_fullconnect.mlx │ ├── README.md │ ├── comparison2.mlx │ ├── config_LSTM.m │ ├── config_fullconnect.m │ ├── identify_semi_parameters_LSTM.mlx │ └── identify_semi_parameters_fullconnect.mlx ├── traditional │ ├── ._fmincon │ ├── ._least_squares │ ├── ._verify │ ├── fmincon │ │ ├── ._Optimal_Object.m │ │ ├── ._identify_parameters_by_fmincon.mlx │ │ ├── Optimal_Object.m │ │ └── identify_parameters_by_fmincon.mlx │ ├── least_squares │ │ ├── ._identify_parameters.mlx │ │ └── identify_parameters.mlx │ └── verify │ │ ├── ._verify_parameters_identified.mlx │ │ ├── ._verify_parameters_identified_by_fmincon.mlx │ │ ├── verify_parameters_identified.mlx │ │ └── verify_parameters_identified_by_fmincon.mlx ├── two-step │ ├── ._Optimal_object_first_step.m │ ├── ._Optimal_object_second_step.m │ ├── ._Optimize_constraints_first_step.m │ ├── ._Optimize_constraints_second_step.m │ ├── ._identify_dynamic_parameters_Stribeck.mlx │ ├── ._verify │ ├── Optimal_object_first_step.m │ ├── Optimal_object_second_step.m │ ├── Optimize_constraints_first_step.m │ ├── Optimize_constraints_second_step.m │ ├── identify_dynamic_parameters_Stribeck.mlx │ └── verify │ │ ├── ._BaseZoom.m │ │ ├── ._magnify.m │ │ ├── ._parameters.json │ │ ├── ._verify_first_step.m │ │ ├── ._verify_second_step.m │ │ ├── ._verify_third_step.m │ │ ├── BaseZoom.m │ │ ├── magnify.m │ │ ├── parameters.json │ │ ├── verify_first_step.m │ │ ├── verify_second_step.m │ │ └── verify_third_step.m ├── utils │ ├── ._Base_Inertial_Parameters.m │ ├── ._Dynamic_Identification_Model.m │ ├── ._Symbol_Definition.m │ ├── ._compute_Stribeck.m │ ├── ._compute_Stribeck_friction.m │ ├── ._compute_regression_matrix.m │ ├── ._transform_parameters.m │ ├── ._transform_physical_parameters_to_inertial_parameters.m │ ├── Base_Inertial_Parameters.m │ ├── Copy_of_compute_regression_matrix.m │ ├── Dynamic_Identification_Model.m │ ├── Symbol_Definition.m │ ├── compute_Stribeck.m │ ├── compute_Stribeck_friction.m │ ├── compute_regression_matrix.m │ ├── compute_regression_matrix.prj │ ├── transform_parameters.m │ └── transform_physical_parameters_to_inertial_parameters.m └── xMatePro3_build.m └── symoro-robots ├── ._rokea └── rokea ├── ._rokea_base.par ├── ._rokea_base_base.par ├── ._rokea_base_dim.txt ├── ._rokea_base_idm.txt ├── ._rokea_base_regp.txt ├── rokea_base.par ├── rokea_base_base.par ├── rokea_base_ccg.txt ├── 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