Identification of the inertial parameters of a humanoid robot using grounded sole link.

Toru Iwasaki Gentiane Venture Eiichi Yoshida

Published in: Humanoids (2012)

Keyphrases

humanoid robot
motion planning
parameter identification
multi modal
walking speed
biologically inspired
motion capture
dynamic model
pattern generator
rough terrain
joint space
manipulation tasks
human robot
body movements
human robot interaction
closed loop
maximum likelihood