Identification of the inertial parameters of a humanoid robot using grounded sole link

摘要

This paper describes the dynamics identification of humanoid robots. It is important to know correctly dynamics parameters of link and joint which constitute a robot for its control. Here, we identify the inertial parameters of legged systems using the base-link dynamics. This method generally set the base-link at the torso where gyroscope and accelerometer are installed in order to calculate base-link velocity and acceleration. We propose a technique to identify without using these sensors. This technique sets the base-link at the sole of the foot and uses the kinematic constraint of the leg connected to the ground. Thus the base-link velocity and acceleration are set to zero. Therefore we can identify without inertial sensor's noise. In this paper, we apply this technique to the humanoid robot HRP-2. First, we calculate the model and then we identify HRP-2 dynamics parameters with simulation environment.