Anthropomorphic movement analysis and synthesis: A survey of methods and applications
The anthropomorphic body form is a complex articulated system of links/limbs and joints,
simultaneously redundant and underactuated, and capable of a wide range of sophisticated …
simultaneously redundant and underactuated, and capable of a wide range of sophisticated …
An iterative approach for accurate dynamic model identification of industrial robots
Y Han, J Wu, C Liu, Z Xiong - IEEE Transactions on Robotics, 2020 - ieeexplore.ieee.org
Dynamic model has broad applications in motion planning, feedforward controller design,
and disturbance observer design. Particularly, with the increasing application of model …
and disturbance observer design. Particularly, with the increasing application of model …
Humanoid and human inertia parameter identification using hierarchical optimization
We propose a method for estimation of humanoid and human links' inertial parameters. Our
approach formulates the problem as a hierarchical quadratic program by exploiting the …
approach formulates the problem as a hierarchical quadratic program by exploiting the …
Identifiability and identification of inertial parameters using the underactuated base-link dynamics for legged multibody systems
In this paper we study the dynamics of multibody systems with the base not permanently
fixed to the inertial frame, or more specifically legged systems such as humanoid robots and …
fixed to the inertial frame, or more specifically legged systems such as humanoid robots and …
Robot dynamic calibration on current level: modeling, identification and applications
Dynamic model calibration is an important issue and has broad applications in robotics.
However, most of the previous works only focus on the robot dynamic calibration on torque …
However, most of the previous works only focus on the robot dynamic calibration on torque …
Optimal exciting dance for identifying inertial parameters of an anthropomorphic structure
V Bonnet, P Fraisse, A Crosnier… - IEEE Transactions …, 2016 - ieeexplore.ieee.org
Knowledge of the mass and inertial parameters of a humanoid robot or a human being is
crucial for the development of model-based control, as well as for monitoring the …
crucial for the development of model-based control, as well as for monitoring the …
[HTML][HTML] Curriculum-based humanoid robot identification using large-scale human motion database
S Kang, K Ishihara, N Sugimoto… - Frontiers in Robotics and …, 2023 - frontiersin.org
Identifying an accurate dynamics model remains challenging for humanoid robots. The
difficulty is mainly due to the following two points. First, a good initial model is required to …
difficulty is mainly due to the following two points. First, a good initial model is required to …
Real-time identification and visualization of human segment parameters
Mass parametersof the body segments are mandatory to study motion dynamics. No
systematic method to estimate them has been proposed so far. Rather, parameters are …
systematic method to estimate them has been proposed so far. Rather, parameters are …
A novel collision detection method based on current residuals for robots without joint torque sensors: A case study on UR10 robot
Existing model-based collision detection methods rely on accurate torque dynamic
parameters identified using measured joint torques. However, for robots lacking joint torque …
parameters identified using measured joint torques. However, for robots lacking joint torque …
Generating persistently exciting trajectory based on condition number optimization
This paper presents a novel optimization method for generating persistently exciting
trajectories for inertial parameters identification of a robot. The exciting performance of the …
trajectories for inertial parameters identification of a robot. The exciting performance of the …