Experimental dynamic parameters identification of a 7 dof walking robot

被引：0
|
作者：
Lydoire, F [1 ]
Poignet, P [1 ]
机构：
[1] Lab Informat Robot & Microelect, Montpellier, France
来源：
CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES | 2003年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper presents the first experimental results of the dynamic parameters identification of the 7 degrees of freedom robot called Rabbit. This biped robot has been designed jointly by several French laboratories and is dedicated to walking and running gaits studies. The dynamic model is expressed linearly with respect to the dynamic parameters including mass, inertia and friction. These parameters are estimated through a classical weighted least square method.
引用
收藏
页码：477 / 483
页数：7
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