Identification of fully physical consistent inertial parameters using optimization on manifolds

@article{Traversaro2016IdentificationOF,
  title={Identification of fully physical consistent inertial parameters using optimization on manifolds},
  author={Silvio Traversaro and Stanislas Brossette and Adrien Escande and Francesco Nori},
  journal={2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2016},
  pages={5446-5451}
}
This paper presents a new condition, the fully physical consistency for a set of inertial parameters to determine if they can be generated by a physical rigid body. The proposed condition ensure both the positive definiteness and the triangular inequality of 3D inertia matrices as opposed to existing techniques in which the triangular inequality constraint is ignored. This paper presents also a new parametrization that naturally ensures that the inertial parameters are fully physical… CONTINUE READING
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