Inertial parameters identification and joint torques estimation with proximal force/torque sensing.
Silvio TraversaroAndrea Del PreteSerena IvaldiFrancesco NoriPublished in: ICRA (2015)
Keyphrases
- dynamic model
- contact force
- parameter estimates
- maximum likelihood estimation
- parameter estimation
- control algorithm
- parameter identification
- maximum likelihood
- angular velocity
- position control
- parameters estimation
- control scheme
- update equations
- sensor networks
- real time
- external forces
- mobile robot
- person identification
- estimation accuracy
- estimation algorithm
- kalman filter
- experimental data
- estimation process
- force feedback
- closed form solutions
- parameter space