Concepedia

Inertial Parameter Estimation

Inertial Parameter Estimation is a computational method within the field of robot dynamics that identifies the mass, center of mass, and inertia tensor of a humanoid robot's links by minimizing the discrepancy between observed motion and the forces and torques predicted by the Newton-Euler formulation.

166

Publications

9.2K

Citations

386

Authors

177

Institutions

Publications per year

2017–2026

33

Variants

Inertial Parameters Estimation

Parents

Publications

166

Adjustments to McConville et al. and Young et al. body segment inertial parameters

Raphaël Dumas, Laurence Chèze, J.-P. Verriest · Journal of Biomechanics · 2006 · 531 citations

, , +5

Humans use internal models to estimate gravity and linear acceleration

Daniel M. Merfeld, L. H. Zupan, Robert J. Peterka · Nature · 1999 · 487 citations

, , +10

Direct calculation of minimum set of inertial parameters of serial robots

Maxime Gautier, Wisama Khalil · IEEE Transactions on Robotics and Automation · 1990 · 392 citations

, , +17

Exciting Trajectories for the Identification of Base Inertial Parameters of Robots

Maxime Gautier, Wisama Khalil · The International Journal of Robotics Research · 1992 · 300 citations

, , +13

Numerical calculation of the base inertial parameters of robots

Maxime Gautier · Journal of Robotic Systems · 1991 · 236 citations

, , +14

1–5 of 166

Authors

386

  1. MG
    Maxime Gautier

    Nantes Université, France

    19 publications · 1.9K citations

    17

    h-index

  2. WK
    Wisama Khalil

    École Centrale de Nantes, France

    13 publications · 1.4K citations

    13

    h-index

  3. GV
    Gentiane Venture

    Tokyo University of Agriculture and Technology, Japan

    12 publications · 504 citations

    12

    h-index

  4. KA
    Ko Ayusawa

    National Institute of Advanced Industrial Science and Technology, Japan

    8 publications · 372 citations

    8

    h-index

  5. FB
    Fouad Bennis

    École Centrale de Nantes, France

    6 publications · 197 citations

    6

    h-index

1–5 of 386

Institutions

177

  1. Centre National de la Recherche Scientifique

    Paris, France

    17 h-index

    30 publications

    3K citations

  2. Laboratoire des Sciences du Numérique de Nantes

    Nantes, France

    12 h-index

    23 publications

    2.6K citations

  3. The University of Tokyo

    Tokyo, Japan

    9 h-index

    20 publications

    726 citations

  4. Nantes Université

    Nantes, France

    8 h-index

    10 publications

    564 citations

  5. Tokyo University of Agriculture and Technology

    Tokyo, Japan

    8 h-index

    13 publications

    493 citations

  6. École Centrale de Nantes

    Nantes, France

    6 h-index

    10 publications

    740 citations

  7. Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier

    Montpellier, France

    6 h-index

    8 publications

    425 citations

  8. Massachusetts Institute of Technology

    Cambridge, United States

    6 h-index

    19 publications

    1.4K citations

1–8 of 177

Venues

  1. Journal of Biomechanics

    9 publications · 1.1K citations

    9

    h-index

  2. The International Journal of Robotics Research

    IJRR · 6 publications · 762 citations

    6

    h-index

  3. Journal of Guidance Control and Dynamics

    6 publications · 427 citations

    6

    h-index

  4. IEEE Transactions on Robotics and Automation

    5 publications · 655 citations

    5

    h-index

  5. IEEE Transactions on Robotics

    4 publications · 235 citations

    4

    h-index

1–5