Polynomial regression aided identification method for a class of mechanical systems

In this article we present a novel approach to identification of a class of mechanical systems that can be written in a form of Euler-Lagrage equations. This identification procedure is based on a polynomial regression that is employed for data smoothing and estimation. Procedure requires only the measurements of torques or forces that are used to control the system and measurements of angles or other co-ordinates that are used to specify the location of the system. This identification algorithm is demonstrated on the problem of identification of three link bipedal robot and the results indicate that the procedure is effective and over-performs classical approaches used to solve the problem.