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In this paper we present a novel algorithm to solve the robot kinematicstructure identification problem. Given a time series of data, typicallyobtained processing a set of visual observations, the proposed approachidentifies the ordered sequence of links associated to the kinematic chain, thejoint type interconnecting each couple of consecutive links, and the inputsignal influencing the relative motion. Compared to the state of the art, theproposed algorithm has reduced computational costs, and is able to identifyalso the joints' type sequence.

Robot kinematic structure classification from time series of visual data