Please use this identifier to cite or link to this item: https://doi.org/10.1109/SII.2011.6147471
Title: Dynamic modeling and system identification for the lower body of a social robot with flexible joints
Authors: He, W. 
Ge, S.S. 
Zhang, J.
Issue Date: 2011
Source: He, W.,Ge, S.S.,Zhang, J. (2011). Dynamic modeling and system identification for the lower body of a social robot with flexible joints. 2011 IEEE/SICE International Symposium on System Integration, SII 2011 : 342-347. ScholarBank@NUS Repository. https://doi.org/10.1109/SII.2011.6147471
Abstract: This paper investigates modeling and identification for the lower body of a social robot, Nancy, with flexible transmission. The flexible-joint and motor parameters of the rigid-link flexible-joint (RLFJ) model and the inertial parameters of the rigid model are identified in using the developed linear dynamic parametric model and the Weighted Least-Squares (WLS) technique. The comparison of these inertial parameters are examined identified by different trajectories. The identifiability of the inertial parameters is analyzed. The optimal excitation trajectories are produced with two optimal criteria for the RLFJ and rigid robot model. The performance of the Least-Squares (LS) estimator and WLS estimator is verified by numerical simulation for the RLFJ model and rigid model, respectively. The validity of the identified model is inspected in tracking control ability. © 2011 IEEE.
Source Title: 2011 IEEE/SICE International Symposium on System Integration, SII 2011
URI: http://scholarbank.nus.edu.sg/handle/10635/70042
ISBN: 9781457715235
DOI: 10.1109/SII.2011.6147471
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