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This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot.
Mathematical Biosciences 7: 329–339
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ASME Journal of Dynamic Systems, Measurement, and Control 102(2): 69–76
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The International Journal of Robotics Research 10(2): 149–161
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The International journal of robotics research 10(6): 668–683
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Calafiore G, Indri M and Bona B (2001) Robot dynamic calibration: Optimal excitation trajectories and experimental parameter estimation · 2001
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Chen K and Beale DG (2002) A new symbolic method to determine base inertia parameters for general spatial mechanisms · 2002
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Mechanism and Machine Theory 37(9): 971 – 984
Chen K, Beale DG and Wang D (2002) A new method to determine the base inertial parameters of planar mechanisms · 2002
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Automatica 38(5): 775 – 786
Sun Z, Ge S and Lee T (2002) Controllability and reachability criteria for switched linear systems · 2002
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IEEE/ASME Trans. on Mechatronics 10(2): 253–256
Ramdani N and Poignet P (2005) Robust dynamic experimental identification of robots with set membership uncertainty · 2005
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Jovic J, Philipp F, Escande A, Ayusawa K, Yoshida E, Kheddar A and Venture G (2015) Identification of dynamics of humanoids: Systematic exciting motion generation · 2015
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IEEE Transactions on Robotics 31(6): 1527–1536
Pucci D, Romano F and Nori F (2015) Collocated adaptive control of underactuated mechanical systems · 2015
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Multibody System Dynamics 34(4): 327–347
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IEEE Transactions on Robotics 32(3): 726–735
Jovic J, Escande A, Ayusawa K, Yoshida E, Kheddar A and Venture G (2016) Humanoid and human inertia parameter identification using hierarchical optimization · 2016
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In: IEEE/RSJ International Conference on Intelligent Robots and Systems . pp. 3033–3040
Gaz C and De Luca A (2017) Payload estimation based on identified coefficients of robot dynamics—with an application to collision detection · 2017
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De Luca A, Albu-Schaffer A, Haddadin S and Hirzinger G (2006) Collision detection and safe reaction with the dlr-iii lightweight manipulator arm · 2006
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In: American Control Conf. pp. 2003–2007
Calafiore G and Indri M (2000) Robust calibration and control of robotic manipulators · 2007
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In: IEEE RAS Humanoids . pp. 1–7
Ayusawa K, Venture G and Nakamura Y (2008) Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link · 2008
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Featherstone R (2008) Rigid Body Dynamics Algorithms · 2008
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In: Siciliano B and Khatib O (eds.) Springer Handbook of Robotics . New York: Springer
Featherstone R and Orin D (2008) Chapter 2: Dynamics · 2008
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Siciliano B, Sciavicco L, Villani L and Oriolo G (2008) Robotics: Modelling, Planning and Control · 2008
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IEEE transactions on Robotics 25(3): 686–700
Chung SJ and Slotine JJE (2009) Cooperative robot control and concurrent synchronization of lagrangian systems · 2009
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IEEE Transactions on Robotics 33(6): 1292–1312
Haddadin S, De Luca A and Albu-Schäffer A (2017) Robot collisions: A survey on detection, isolation, and identification · 2017
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In: IEEE/RSJ Int. Conf. on Intelligent Rob. and Sys
Tournois G, Focchi M, Prete AD, Orsolino R, Caldwell D and Semini C (2017) Online payload identi cation for quadruped robots · 2017
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In: IEEE Int. Conf. on Robotics and Automation . pp. 4927–4932
Bonnet V, Crosnier A, Venture G, Gautier M and Fraisse P (2018) Inertial parameters identification of a humanoid robot hanged to a fix force sensor · 2018
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In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) . IEEE, pp. 1–9
Lee T, Kwon J and Park FC (2018) A natural adaptive control law for robot manipulators · 2018
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Lee T and Park FC (2018) Robust Dynamic Identification of Multibody Systems using Natural Distance Metric on Physically Consistent Inertial Parameters · 2018
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Automatica 89: 398–406
Pan Y and Yu H (2018) Composite learning robot control with guaranteed parameter convergence · 2018
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In: IEEE/SICE Int. Symposium on System Integration . pp. 614–619
Carpentier J, Saurel G, Buondonno G, Mirabel J, Lamiraux F, Stasse O and Mansard N (2019) The pinocchio c++ library: A fast and flexible implementation of rigid body dynamics algorithms and their analytical derivatives · 2019
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IEEE Transactions on Robotics 36(2): 348–365
Lee T, Wensing PM and Park FC (2020) Geometric robot dynamic identification: A convex programming approach · 2020
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Neural Computation 33(3): 590–673
Boffi NM and Slotine JJE (2021) Implicit regularization and momentum algorithms in nonlinearly parameterized adaptive control and prediction · 2021
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Journal of Computational and Nonlinear Dynamics 16(9)
Echeandia S and Wensing PM (2021) Numerical methods to compute the coriolis matrix and christoffel symbols for rigid-body systems · 2021
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IEEE Robotics and Automation Letters 6(4): 7129–7136
Garofalo G, Wu X and Ott C (2021) Adaptive passivity-based multi-task tracking control for robotic manipulators · 2021
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Automatica 131: 109773
Lee T, Lee BD and Park FC (2021) Optimal excitation trajectories for mechanical systems identification · 2021
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Science Robotics 7(66): eabm6597
O’Connell M, Shi G, Shi X, Azizzadenesheli K, Anandkumar A, Yue Y and Chung SJ (2022) Neural-fly enables rapid learning for agile flight in strong winds · 2022
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International Journal of Control : 1–17 10.1080/00207179.2023.2246595
Wang L, Ortega R, Bobtsov A, Romero JG and Yi B (2023) Identifiability implies robust, globally exponentially convergent on-line parameter estimation · 2023
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In: IEEE international conference on robotics and automation . IEEE, pp. 2075–2081
Gaz C, Flacco F and De Luca A (2016) Extracting feasible robot parameters from dynamic coefficients using nonlinear optimization methods · 2081
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