NDLI: Identification of flying humanoids and humans

Content Provider	IEEE Xplore Digital Library
Author	Ayusawa, K. Venture, G. Nakamura, Y.
Copyright Year	2010
Description	Author affiliation: Department of Mechanical System Engineering, The Tokyo University of Agriculture and Technology, 2-24-16 Nakacho, Koganei, 184-8588, Japan (Venture, G.) \|\| Department of Mechano-Informatics, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, 113-8656, Japan (Ayusawa, K.; Nakamura, Y.)
Abstract	The mass properties are important to control robot dynamics or study human dynamics. In our previous works, we proposed a method to identify inertial parameters of legged mechanisms from base-link dynamics, using generalized coordinates and external forces information. In this paper, we propose an identification method based on floating-base dynamics, when the system has no external force. Inertial parameters can be identified without force measurement, only from motion data. The method has been tested on two examples; a simple chain consisted of two links and the human body dynamics.
Starting Page	3715
Ending Page	3720
File Size	763328
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509495
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Humans Robot kinematics Equations Matrix decomposition Robotics and automation Humanoid robots Force measurement Orbital robotics Mobile robots USA Councils
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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