2017
Online payload identification for quadruped robots
Guido Tournois, Michele Focchi, Andrea Del Prete, Romeo Orsolino, Darwin G. Caldwell, Claudio Semini
IROS 2017poster
The identification of inertial parameters is crucial to achieve high-performance model-based control of legged robots. The inertial parameters of the legs are typically not altered during expeditions and therefore are best identified offline. On the other hand, the trunk parameters depend on the mod…