Inertial parameter estimation of floating base humanoid systems using partial force sensing

@article{Mistry2009InertialPE,
  title={Inertial parameter estimation of floating base humanoid systems using partial force sensing},
  author={Michael Mistry and Stefan Schaal and Katsu Yamane},
  journal={2009 9th IEEE-RAS International Conference on Humanoid Robots},
  year={2009},
  pages={492-497}
}
Recently, several controllers have been proposed for humanoid robots which rely on full-body dynamic models. The estimation of inertial parameters from data is a critical component for obtaining accurate models for control. However, floating base systems, such as humanoid robots, incur added challenges to this task (e.g. contact forces must be measured, contact states can change, etc.) In this work, we outline a theoretical framework for whole body inertial parameter estimation, including the… CONTINUE READING
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The representation, learning, and control of dexterous motor skills in humans and humanoid robots

  • M. Mistry
  • PhD dissertation, University of Southern…
  • 2009
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