@InProceedings{Ayusawa2008,
  Title                    = {Identification of Humanoid Robots Dynamics using Floating-base Motion Dynamics},
  Author                   = {Ayusawa, K. and Venture, G. and Nakamura, Y.},
  Booktitle                = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
  Year                     = {2008},
  Pages                    = {2854--2859},

  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. This paper proposes a method to estimate humanoid robots inertial parameters using a minimal set of sensors. Only joint angles and external forces information are required. Simulations have provided exciting trajectories that are reproduced on a small-size humanoid robot. Experimental results are given.},
  Doi                      = {10.1109/IROS.2008.4650614},
  Keywords                 = {floating-base motion dynamics;humanoid robot dynamics identification;inertial parameter estimation;joint dynamics;humanoid robots;mobile robots;parameter estimation;robot dynamics; ECE780},
  Review                   = {Novality: 
1) Recognizes that the dynamics equations can be separated into a section that depends on torque and one set that doesn't
2) We can take the side that doesn't need torque, since the parameter matrix's rank is the same with or without that component
3) Derive parameters from just joint angles and contact forces

Summary:
"The accuracy of robotic parameters, such as mass, inertia, and moment, is critical to the accuracy of dynamic calculations. Available methods to determine these parameters, such as CAD data, sometimes do not properly account the impact of actuator, sensor and wiring on these parameters. This leads to inaccurate dynamics calculations. By taking the general dynamics equation, one can separate out the equations that are functions of joint torques, and formulate equations of dynamics as functions of joint angles and contact forces. This paper implements these equations and calculate the parameters of a small humanoid robot."

We want inertial parameters and joint dynamics. We usually need torque info to get the full dynamics equations, but humanoids don't typically have torque sensors
 - Can use contact forces and joint angles

They then implements this on a small robot, the magnum, using DH modeling},
  Timestamp                = {2011.01.23}
}

{"_id":"WMSDqxtgYdR7fS6z6","bibbaseid":"ayusawa-venture-nakamura-identificationofhumanoidrobotsdynamicsusingfloatingbasemotiondynamics-2008","downloads":0,"creationDate":"2017-09-14T16:34:36.185Z","title":"Identification of Humanoid Robots Dynamics using Floating-base Motion Dynamics","author_short":["Ayusawa, K.","Venture, G.","Nakamura, Y."],"year":2008,"bibtype":"inproceedings","biburl":"https://raw.githubusercontent.com/jfslin/jfslin.github.io/master/jf2lin.bib","bibdata":{"bibtype":"inproceedings","type":"inproceedings","title":"Identification of Humanoid Robots Dynamics using Floating-base Motion Dynamics","author":[{"propositions":[],"lastnames":["Ayusawa"],"firstnames":["K."],"suffixes":[]},{"propositions":[],"lastnames":["Venture"],"firstnames":["G."],"suffixes":[]},{"propositions":[],"lastnames":["Nakamura"],"firstnames":["Y."],"suffixes":[]}],"booktitle":"Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems","year":"2008","pages":"2854--2859","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. This paper proposes a method to estimate humanoid robots inertial parameters using a minimal set of sensors. Only joint angles and external forces information are required. Simulations have provided exciting trajectories that are reproduced on a small-size humanoid robot. Experimental results are given.","doi":"10.1109/IROS.2008.4650614","keywords":"floating-base motion dynamics;humanoid robot dynamics identification;inertial parameter estimation;joint dynamics;humanoid robots;mobile robots;parameter estimation;robot dynamics; ECE780","review":"Novality: 1) Recognizes that the dynamics equations can be separated into a section that depends on torque and one set that doesn't 2) We can take the side that doesn't need torque, since the parameter matrix's rank is the same with or without that component 3) Derive parameters from just joint angles and contact forces Summary: \"The accuracy of robotic parameters, such as mass, inertia, and moment, is critical to the accuracy of dynamic calculations. Available methods to determine these parameters, such as CAD data, sometimes do not properly account the impact of actuator, sensor and wiring on these parameters. This leads to inaccurate dynamics calculations. By taking the general dynamics equation, one can separate out the equations that are functions of joint torques, and formulate equations of dynamics as functions of joint angles and contact forces. This paper implements these equations and calculate the parameters of a small humanoid robot.\" We want inertial parameters and joint dynamics. We usually need torque info to get the full dynamics equations, but humanoids don't typically have torque sensors - Can use contact forces and joint angles They then implements this on a small robot, the magnum, using DH modeling","timestamp":"2011.01.23","bibtex":"@InProceedings{Ayusawa2008,\n Title = {Identification of Humanoid Robots Dynamics using Floating-base Motion Dynamics},\n Author = {Ayusawa, K. and Venture, G. and Nakamura, Y.},\n Booktitle = {Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems},\n Year = {2008},\n Pages = {2854--2859},\n\n 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. This paper proposes a method to estimate humanoid robots inertial parameters using a minimal set of sensors. Only joint angles and external forces information are required. Simulations have provided exciting trajectories that are reproduced on a small-size humanoid robot. Experimental results are given.},\n Doi = {10.1109/IROS.2008.4650614},\n Keywords = {floating-base motion dynamics;humanoid robot dynamics identification;inertial parameter estimation;joint dynamics;humanoid robots;mobile robots;parameter estimation;robot dynamics; ECE780},\n Review = {Novality: \n1) Recognizes that the dynamics equations can be separated into a section that depends on torque and one set that doesn't\n2) We can take the side that doesn't need torque, since the parameter matrix's rank is the same with or without that component\n3) Derive parameters from just joint angles and contact forces\n\nSummary:\n\"The accuracy of robotic parameters, such as mass, inertia, and moment, is critical to the accuracy of dynamic calculations. Available methods to determine these parameters, such as CAD data, sometimes do not properly account the impact of actuator, sensor and wiring on these parameters. This leads to inaccurate dynamics calculations. By taking the general dynamics equation, one can separate out the equations that are functions of joint torques, and formulate equations of dynamics as functions of joint angles and contact forces. This paper implements these equations and calculate the parameters of a small humanoid robot.\"\n\nWe want inertial parameters and joint dynamics. We usually need torque info to get the full dynamics equations, but humanoids don't typically have torque sensors\n - Can use contact forces and joint angles\n\nThey then implements this on a small robot, the magnum, using DH modeling},\n Timestamp = {2011.01.23}\n}\n\n","author_short":["Ayusawa, K.","Venture, G.","Nakamura, Y."],"key":"Ayusawa2008","id":"Ayusawa2008","bibbaseid":"ayusawa-venture-nakamura-identificationofhumanoidrobotsdynamicsusingfloatingbasemotiondynamics-2008","role":"author","urls":{},"keyword":["floating-base motion dynamics;humanoid robot dynamics identification;inertial parameter estimation;joint dynamics;humanoid robots;mobile robots;parameter estimation;robot dynamics; ECE780"],"downloads":0},"search_terms":["identification","humanoid","robots","dynamics","using","floating","base","motion","dynamics","ayusawa","venture","nakamura"],"keywords":["floating-base motion dynamics;humanoid robot dynamics identification;inertial parameter estimation;joint dynamics;humanoid robots;mobile robots;parameter estimation;robot dynamics; ece780"],"authorIDs":[],"dataSources":["iCsmKnycRmHPxmhBd"]}