Inertial parameter estimation of floating base humanoid systems using partial force sensing

9th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS09

Volumn , Issue , 2009, Pages 492-497

  Mistry, Michael ^a   Schaal, Stefan ^b,c   Yamane, Katsu ^a  

^a DISNEY RESEARCH   (United States)

^b UNIVERSITY OF SOUTHERN CALIFORNIA   (United States)

^c ADVANCED TELECOMMUNICATIONS RESEARCH INSTITUTE INTERNATIONAL   (Japan)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT FORCE MEASUREMENTS; CONTACT FORCES; CONTACT STATE; CRITICAL COMPONENT; DEGREES OF FREEDOM; FLOATING BASE; FORCE SENSING; FORCE SENSOR; FULL BODY; HUMANOID ROBOT; INERTIAL PARAMETERS; JOINT TORQUES; LEAST SQUARES MINIMIZATION; ROLLING CONTACTS; THEORETICAL FRAMEWORK; THEORETICAL MINIMUM; UNACTUATED; WHOLE BODY;

ANTHROPOMORPHIC ROBOTS; FORCE MEASUREMENT; SENSORS;

PARAMETER ESTIMATION;

EID: 77950588782     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICHR.2009.5379531     Document Type: Conference Paper

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