Abstract
When simulating and controlling robot dynamics, it is necessary to know the inertial parameters and the joint dynamics accurately. As these parameters are usually not provided by manufacturers, identification is then an essential step in robotics. In addition with the up coming wide-spreading of humanoid robots in the society, the identification of humanoid dynamics has became mandatory to insure safety. We propose a method to estimate humanoid robots inertial parameters without torque sensor, using generalized coordinates of baselink, joint angles and external forces information. This paper presents a symbolic proof for the identifiability of the proposed method.
