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Titel:

Inertial Parameter Identification in Robotics: A Survey

Dokumenttyp:
Magazinartikel
Autor(en):
Quentin Leboutet , Julien Roux , Alexandre Janot , Julio Rogelio Guadarrama-Olvera and Gordon Cheng
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...     »
Zeitschriftentitel:
Applied Sciences
Jahr:
2021
Band / Volume:
Vol. 11
Jahr / Monat:
2021-05
Monat:
May
Heft / Issue:
Issue 9
Volltext / DOI:
doi:10.3390/app11094303
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