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

TitleLinear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution
Publication TypeJournal Article
Year of Publication2018
AuthorsWensing, P.. M., S.. Kim, and J.. E. Slotine
JournalIEEE Robotics and Automation Letters
Volume3
Pagination60-67
Date PublishedJan
ISSN2377-3766
KeywordsActuators, bounding-volume constraints, Calibration and identification, Dynamics, global optimality, Integrated circuits, legged locomotion, legged robots, linear matrix inequalities, link inertias, LMI, mass distribution, mass moment, mathematical programming, MIT Cheetah 3 robot, model-based whole-body control, Optimization, parameter optimization, physical-consistency constraints, physically consistent inertial parameter identification, rigid-body systems, robust control, robustness, rotational inertia matrix, semidefinite programming, statistical perspective, system identification, transmission components
DOI10.1109/LRA.2017.2729659