Name
Abstract | ||
|---|---|---|
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 linear properties of rigid body dynamics with respect to the inertia parameters. In order to assess our algorithm, we conducted experiments with a humanoid robot and a human subject. We compared ground reaction forces and mom... |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/TRO.2016.2558190 | IEEE Transactions on Robotics |
Keywords | Field | DocType |
Optimization,Humanoid robots,Mathematical model,Standards,Solid modeling,Service robots | Inertial frame of reference,Control theory,Control engineering,Ground reaction force,Solid modeling,Inertia,Quadratic programming,Robot,Rigid body dynamics,Mathematics,Humanoid robot | Journal |
Volume | Issue | ISSN |
32 | 3 | 1552-3098 |
Citations | PageRank | References |
9 | 0.63 | 13 |
Authors | ||
6 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Jovana Jovic | 1 | 45 | 2.77 |
| Adrien Escande | 2 | 273 | 22.91 |
| Ko Ayusawa | 3 | 90 | 12.69 |
| Eiichi Yoshida | 4 | 522 | 59.13 |
| Abderrahmane Kheddar | 5 | 1191 | 101.66 |
| Gentiane Venture | 6 | 209 | 38.49 |