Real-time Inertial Parameter Identification of Floating-Base Robots Through Iterative Primitive Shape Division
Jiafeng Xu,Yu Zheng,Xinyang Jiang,Sicheng Yang,Lingzhu Xiang,Zhengyou Zhang,Jiafeng Xu,Yu Zheng,Xinyang Jiang,Sicheng Yang,Lingzhu Xiang,Zhengyou Zhang
Dynamic models play a key role in robot motion generation and control and the identification of inertial parameters is a critical component for obtaining an accurate dynamic model of a robot. This paper presents a novel iterative primitive shape division method for the inertia parameter identification of floating-base robots. Describing a robot by a set of primitive shapes with uniform mass distri...
