ベースリンクの運動方程式を利用した脚型ロボットの最小力学パラメータの同定

抄録

With the developments of humanoid robots, applications in the human living environment are expected. For accurate and safe control of robots, the knowledge of the robot inertial parameters is important. However these parameters are usually not provided by manufacturers, so identification is then an essential step. Conventional identification methods require the joint torque information, however it is difficult to measure the joint torque in the case of the humanoid robots. This paper proposes a method to estimate humanoid robots inertial parameters based on the use of the dynamics of the base-link. Only generalized coordinates of base-link, joint angles and external forces information are required. This paper also presents a symbolic proof for the identifiability of the proposed method. And the method has been tested on the small-size humanoid robot, and experimental results are given.