Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Inertial Parameter Identification Including Friction and Motor Dynamics   Identification of inertial parameters is fundamental for the implementation
of torque-based control in humanoids. At the same time, good models of friction
and actuator dynamics are critical for the low-level control of joint torques.
We propose a novel method to identify inertial, friction and motor parameters
in a single procedure. The identification exploits the measurements of the PWM
of the DC motors and a 6-axis force/torque sensor mounted inside the kinematic
chain. The partial least-square (PLS) method is used to perform the regression.
We identified the inertial, friction and motor parameters of the right arm of
the iCub humanoid robot. We verified that the identified model can accurately
predict the force/torque sensor measurements and the motor voltages. Moreover,
we compared the identified parameters against the CAD parameters, in the
prediction of the force/torque sensor measurements. Finally, we showed that the
estimated model can effectively detect external contacts, comparing it against
a tactile-based contact detection. The presented approach offers some
advantages with respect to other state-of-the-art methods, because of its
completeness (i.e. it identifies inertial, friction and motor parameters) and
simplicity (only one data collection, with no particular requirements).

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The categories of this paper are: math-ph
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The categories of this paper are: q-fin
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The categories of this paper are: hep-th
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The categories of this paper are: quant-ph
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The categories of this paper are: econ
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The categories of this paper are: comp-gas
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The categories of this paper are: chem-ph
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The categories of this paper are: hep-lat
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The categories of this paper are: acc-phys
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The categories of this paper are: gr-qc
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The categories of this paper are: ao-sci
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The categories of this paper are: math
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The categories of this paper are: stat
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The categories of this paper are: eess
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The categories of this paper are: mtrl-th
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The categories of this paper are: adap-org