Symbolic Proof of Inertia-Parameter Identifiability of Legged Mechanisms from Unactuated Base-Link Dynamics

Abstract When simulating and controlling robot dynamics, it is necessary to know the inertial parameters of robots accurately. However these parameters are usually not provided by manufacturers, identification is then essential. We have proposesd a method to estimate legged system inertial parameters based on the use of the dynamics of the base-link. Only generalized coordinates of baselink, joint angles and external forces information are required. This paper presents a symbolic proof of the identifiability of the parameters with the proposed method.

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