Static inertial parameter identification for humanoid robots using a torque-free support

For the control of robots, like bipedal robots, an accurate system model with the corresponding inertial parameters can enhance the performance of the control algorithms significantly. This paper presents a convenient method for identification of the static inertial parameters with minimal sensor effort. Next to the identification method itself an approach for the calculation of optimal exciting identification poses is presented. The method is used successfully to identify the static inertial parameters of a full-size humanoid robot.