例1:盛り合わせ小型ヒューマノイドロボット
B0 = Base-link B1 to B6 = right leg B7 to B12 = left leg B13 to B16 = right arm B17 to B20 = left arm
Size 540[mm]
Mass 8.0[Kg]
Nb of links 21
Nb of DOF 26 (7/leg, 4/arm)
例1:盛り合わせ小型ヒューマノイドロボット
Arms of small dimensions
Associated inertial parameters small and difficult to estimate with respect to the sensors resolution
To avoid this lack of information: upper limbs fixed in a
pose Links B13 to B20 attached
to based-link B0 94 base parameters to
identify
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