Optimal Exciting Dance for Identifying Inertial Parameters of an Anthropomorphic Structure.

Knowledge of the mass and inertial parameters of a humanoid robot or a human being is crucial for the development of model-based control, as well as for monitoring the rehabilitation process. These parameters are also important for obtaining realistic simulations in the field of motion planning and human motor control. For robots, they are often provided by computer-aided design data, while averag...