Qazi Hanif

Principled Grammar Specification for Symbolic Regression of Robot Mass-Matrix Dynamics: Identification of sin(2q) Atom Requirements via Structural Analysis

We address a foundational question in symbolic regression of robot dynamics: what is the minimal sufficient grammar of trigonometric atoms required to express the diagonal mass-matrix elements Mii(q) of a serial manipulator? Using Lasso regression on a principled atom library der...