AI News, Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution

Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution

Abstract: With the increased application of model-based whole-body control in legged robots, there has been a resurgence of research interest into methods for accurate system identification.

With this perspective, connections to the classical problem of moments in mathematics are shown to yield new bounding-volume constraints on the mass distribution of each link.

Detailed properties of transmission components are identified alongside link inertias, with parameter optimization carried out to global optimality through semidefinite programming.

arXiv.org > cs > arXiv:1701.04395

Wensing, Sangbae Kim, Jean-Jacques Slotine (Submitted on 16 Jan 2017 (v1), last revised 18 Sep 2017 (this version, v3)) With the increased application of model-based whole-body control in legged robots, there has been a resurgence of research interest into methods for accurate system identification.

With this perspective, connections to the classical problem of moments in mathematics are shown to yield new bounding-volume constraints on the mass distribution of each link.

(or arXiv:1701.04395v3 [cs.RO] for this version) Submission history From: Patrick Wensing [view email] [v1] Mon, 16 Jan 2017 18:52:15 GMT (22kb) [v2] Thu, 16 Feb 2017 05:16:11 GMT (1735kb,D) [v3] Mon, 18 Sep 2017 18:07:52 GMT (2881kb,D) Which authors of this paper are endorsers?

List of moments of inertia

^ a

b c d e f g h i Raymond A.

Physics for Scientists and Engineers (2nd ed.).

Classical Mechanics - Moment of inertia of a uniform hollow cylinder.

b c d e Satterly, John (1958).

42 (339): 11–13.

b c d Ferdinand P.