Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link

Abstract

The inertial parameters are important to generate motion patterns for humanoid robots. Conventional identification methods can be used to estimate these parameters; however they required the joint torque estimates that can be obtained by modeling of the transmission or by direct measurements. To overcome that issue we have recently developed a new method to estimate the inertial parameters of legged systems. By using the base-link equations only, we obtain a reduced identification model that is free of joint torque estimates. In this paper we propose to apply the method to a human-size humanoid robot. The preliminary experimental results are given and discussed.