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Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link

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3 Author(s)
Ko Ayusawa ; Department of Mechano-Informatics - The University of Tokyo, Japan ; Gentiane Venture ; Yoshihiko Nakamura

The inertial parameters are important to generate motion patterns for humanoid robots. Conventional identification methods can be used to estimate these parameters; however they required the joint torque estimates that can be obtained by modeling of the transmission or by direct measurements. To overcome that issue we have recently developed a new method to estimate the inertial parameters of legged systems. By using the base-link equations only, we obtain a reduced identification model that is free of joint torque estimates. In this paper we propose to apply the method to a human-size humanoid robot. The preliminary experimental results are given and discussed.

Published in:

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

Date of Conference:

1-3 Dec. 2008