抄録
This paper describes the dynamics identification of humanoid robots. It is important to know correctly dynamics parameters of link and joint which constitute a robot for its control. Humanoids have shock absorber and damper at its sole. In walking, humanoids receive impulsive force each step. This structure is simulated in their simulator. In simulation, accuracy of inertial parameters and viscoelastic parameters that compose robot model is important to simulate their motion accurately. Then, we identify the viscoelastic parameters of legged systems using the base-link dynamics and viscoelastic joint dynamics. We modeled HRP-2 sole damper with simple structure and identify viscoelastic parameters with parallel model that is composed with elasticity and viscosity and offset torque. We finally validate the identified parameters with some motion.
