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 …

Nowadays, vehicles have advanced driver-assistance systems which help to improve
vehicle safety and save the lives of drivers, passengers and pedestrians. Identification of the …

In this paper we study the dynamics of multibody systems with the base not permanently
fixed to the inertial frame, or more specifically legged systems such as humanoid robots and …

The problem of energy recovery in braking of an electric vehicle is solved here, which
ensures high quality blended deceleration using electrical and friction brakes. A model …

Abstract System identification for multibody mechanical systems such as robots and vehicles
is typically formulated as a parameter optimization problem, in which the model parameters …

System identification of vessel steering associated with unstructured uncertainties is
considered in this paper. The initial model of vessel steering is derived by a modified second …

The identification of the dynamic parameters of robot is based on the use of the inverse
dynamic model which is linear with respect to the parameters. This model is sampled while …

Recently, several controllers have been proposed for humanoid robots which rely on full-
body dynamic models. The estimation of inertial parameters from data is a critical …

Identification of body inertia, masses and center of mass is an important data to simulate,
monitor and understand dynamics of motion, to personalize rehabilitation programs. This …

When simulating and controlling robot dynamics it is necessary to know the inertial
parameters and the joint dynamics accurately. As these parameters are usually not provided …