AI News, Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution
- On 7. december 2017
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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.
- On 11. december 2017
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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?
- On 11. december 2017
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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.