Khurana, HarshitHermus, JamesBillard, Aude2024-10-302024-10-302024-08-272024-09-23https://infoscience.epfl.ch/handle/20.500.14299/241774This paper proposes an impact aware extended Kalman filter to predict the final position of a known cuboidal object when subjected to an impulse through a manipulator. The discontinuous impulse motion equations are approximated through a continuous hitting force model by balancing the energies during collision. The results are tested on an experimental setup consisting of KUKA lbr iiwa 7 arm hitting a known object.entext::working paper