Static Inertial Parameter Identification for Humanoid Robots Using a Torque-Free Support

Johannes Mayr; Hubert Gattringer

Static Inertial Parameter Identification for Humanoid Robots Using a Torque-Free Support

Institute of Robotics

Research output: Chapter in Book/Report/Conference proceeding › Conference proceedings › peer-review

Abstract

For the control of robots, like bipedal robots, an accurate system model with the corresponding inertial parameters can enhance the performance of the control algorithms significantly. This paper presents a convenient method for identification of the static inertial parameters with minimal sensor effort. Next to the identification method itself an approach for the calculation of optimal exciting identification poses is presented. The method is used successfully to identify the static inertial parameters of a full-size humanoid robot.

Original language	English
Title of host publication	Proceedings of IEEE-RAS International Conference on Humanoid Robots 2014
Pages	99-104
Number of pages	6
Publication status	Published - Nov 2014

Fields of science

203015 Mechatronics
203022 Technical mechanics
202 Electrical Engineering, Electronics, Information Engineering
202035 Robotics
203013 Mechanical engineering

JKU Focus areas

Mechatronics and Information Processing

Cite this

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title = "Static Inertial Parameter Identification for Humanoid Robots Using a Torque-Free Support",

abstract = "For the control of robots, like bipedal robots, an accurate system model with the corresponding inertial parameters can enhance the performance of the control algorithms significantly. This paper presents a convenient method for identification of the static inertial parameters with minimal sensor effort. Next to the identification method itself an approach for the calculation of optimal exciting identification poses is presented. The method is used successfully to identify the static inertial parameters of a full-size humanoid robot.",

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AB - For the control of robots, like bipedal robots, an accurate system model with the corresponding inertial parameters can enhance the performance of the control algorithms significantly. This paper presents a convenient method for identification of the static inertial parameters with minimal sensor effort. Next to the identification method itself an approach for the calculation of optimal exciting identification poses is presented. The method is used successfully to identify the static inertial parameters of a full-size humanoid robot.

M3 - Conference proceedings

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BT - Proceedings of IEEE-RAS International Conference on Humanoid Robots 2014

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