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Document type:
Magazinartikel 
Author(s):
Quentin Leboutet , Julien Roux , Alexandre Janot , Julio Rogelio Guadarrama-Olvera and Gordon Cheng 
Title:
Inertial Parameter Identification in Robotics: A Survey 
Abstract:
This work aims at reviewing, analyzing and comparing a range of state-of-the-art approaches to inertial parameter identification in the context of robotics. We introduce “BIRDy (Benchmark for Identification of Robot Dynamics)”, an open-source Matlab toolbox, allowing a systematic and formal performance assessment of the considered identification algorithms on either simulated or real serial robot manipulators. Seventeen of the most widely used approaches found in the scientific literature are im...    »
 
Journal title:
Applied Sciences 
Year:
2021 
Journal volume:
Vol. 11 
Year / month:
2021-05 
Month:
May 
Journal issue:
Issue 9 
Fulltext / DOI: