| Title | Linear Matrix Inequalities for Physically Consistent Inertial Parameter Identification: A Statistical Perspective on the Mass Distribution |
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| Publication Type | Journal Article |
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| Year of Publication | 2018 |
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| Date Published | Jan |
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| Authors | Wensing, P.. M., S.. Kim, and J.. E. Slotine |
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| Journal | IEEE Robotics and Automation Letters |
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| Volume | 3 |
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| Pagination | 60-67 |
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| ISSN | 2377-3766 |
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| Keywords | Actuators, 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 |
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| DOI | 10.1109/LRA.2017.2729659 |
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