X-DoF: Automatic Degree of Freedom Subset Selection for Inverse Blocked Force Characterization

Abstract

Selecting the proper set of Degrees of Freedom is essential in inverse (Blocked) Force calculation. Including too many Degrees of Freedom in the computation can lead to overfitting, resulting in inaccurate force estimations and poor prediction quality. The discrepancy arises from errors within the dataset, such as measurement noise or other artifacts. This paper presents a solution to the overfitting problem, introducing the X-DoF procedure to automatically identify the relevant subset of Blocked Force Degrees of Freedom. Its effectiveness is showcased through numerical and experimental validation and compared against regularization techniques.