{"id":"https://openalex.org/W2891737701","doi":"https://doi.org/10.1109/icra.2018.8461112","title":"Inertial Parameters Identification of a Humanoid Robot Hanged to a Fix Force Sensor","display_name":"Inertial Parameters Identification of a Humanoid Robot Hanged to a Fix Force Sensor","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2891737701","doi":"https://doi.org/10.1109/icra.2018.8461112","mag":"2891737701"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461112","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5076099111","display_name":"Vincent Bonnet","orcid":"https://orcid.org/0000-0001-5367-711X"},"institutions":[{"id":"https://openalex.org/I197681013","display_name":"Universit\u00e9 Paris-Est Cr\u00e9teil","ror":"https://ror.org/05ggc9x40","country_code":"FR","type":"education","lineage":["https://openalex.org/I197681013"]},{"id":"https://openalex.org/I2800365227","display_name":"Paris-Est Sup","ror":"https://ror.org/0268ecp52","country_code":"FR","type":"education","lineage":["https://openalex.org/I2800365227"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Vincent Bonnet","raw_affiliation_strings":["LISSI, University of Paris-Est Cr\u00e9teil, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LISSI, University of Paris-Est Cr\u00e9teil, France","institution_ids":["https://openalex.org/I2800365227","https://openalex.org/I197681013"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043284120","display_name":"Andr\u00e9 Crosnier","orcid":"https://orcid.org/0000-0001-7632-0922"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Andre Crosnier","raw_affiliation_strings":["LIRMM UMR 5506 CNRS, Montpellier University, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM UMR 5506 CNRS, Montpellier University, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076587308","display_name":"Gentiane Venture","orcid":"https://orcid.org/0000-0001-7767-4765"},"institutions":[{"id":"https://openalex.org/I92614990","display_name":"Tokyo University of Agriculture and Technology","ror":"https://ror.org/00qg0kr10","country_code":"JP","type":"education","lineage":["https://openalex.org/I92614990"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Gentiane Venture","raw_affiliation_strings":["Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technolozy, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Systems Engineering, Tokyo University of Agriculture and Technolozy, Japan","institution_ids":["https://openalex.org/I92614990"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101665387","display_name":"Maxime Gautier","orcid":"https://orcid.org/0000-0002-3927-0054"},"institutions":[{"id":"https://openalex.org/I97188460","display_name":"Nantes Universit\u00e9","ror":"https://ror.org/03gnr7b55","country_code":"FR","type":"education","lineage":["https://openalex.org/I97188460"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Maxime Gautier","raw_affiliation_strings":["Nantes University, Nantes, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Nantes University, Nantes, France","institution_ids":["https://openalex.org/I97188460"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5070253135","display_name":"Philippe Fraisse","orcid":"https://orcid.org/0000-0003-0911-0743"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I19894307","display_name":"Universit\u00e9 de Montpellier","ror":"https://ror.org/051escj72","country_code":"FR","type":"education","lineage":["https://openalex.org/I19894307"]},{"id":"https://openalex.org/I4210101743","display_name":"Laboratoire d'Informatique, de Robotique et de Micro\u00e9lectronique de Montpellier","ror":"https://ror.org/013yean28","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1326498283","https://openalex.org/I151295451","https://openalex.org/I19894307","https://openalex.org/I4210101743","https://openalex.org/I4210159245","https://openalex.org/I4405261681"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Philippe Fraisse","raw_affiliation_strings":["LIRMM UMR 5506 CNRS, Montpellier University, France"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"LIRMM UMR 5506 CNRS, Montpellier University, France","institution_ids":["https://openalex.org/I4210101743","https://openalex.org/I19894307","https://openalex.org/I1294671590"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.10100835,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":null,"issue":null,"first_page":"4927","last_page":"4932"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9656000137329102,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12810","display_name":"Real-time simulation and control systems","score":0.9164000153541565,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.8846269845962524},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6418872475624084},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.581858217716217},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5385274887084961},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5359851121902466},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.5149048566818237},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4721812307834625},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.46547505259513855},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.42959344387054443},{"id":"https://openalex.org/keywords/fictitious-force","display_name":"Fictitious force","score":0.41285306215286255},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.35369500517845154},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3463372588157654},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12793365120887756},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.12336555123329163}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8846269845962524},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6418872475624084},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.581858217716217},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5385274887084961},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5359851121902466},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.5149048566818237},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4721812307834625},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.46547505259513855},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.42959344387054443},{"id":"https://openalex.org/C30811805","wikidata":"https://www.wikidata.org/wiki/Q212126","display_name":"Fictitious force","level":2,"score":0.41285306215286255},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.35369500517845154},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3463372588157654},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12793365120887756},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.12336555123329163},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2018.8461112","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461112","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:HAL:lirmm-03131978v1","is_oa":false,"landing_page_url":"https://hal-lirmm.ccsd.cnrs.fr/lirmm-03131978","pdf_url":null,"source":{"id":"https://openalex.org/S4306402512","display_name":"HAL (Le Centre pour la Communication Scientifique Directe)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I1294671590","host_organization_name":"Centre National de la Recherche Scientifique","host_organization_lineage":["https://openalex.org/I1294671590"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"ICRA 2018 - 35th IEEE International Conference on Robotics and Automation, May 2018, Brisbane, Australia. pp.4927-4932, &#x27E8;10.1109/ICRA.2018.8461112&#x27E9;","raw_type":"Conference papers"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.5699999928474426,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1991876829","https://openalex.org/W2029809384","https://openalex.org/W2035587171","https://openalex.org/W2052324963","https://openalex.org/W2061320764","https://openalex.org/W2063016980","https://openalex.org/W2078856056","https://openalex.org/W2087431993","https://openalex.org/W2106865725","https://openalex.org/W2116501050","https://openalex.org/W2151775748","https://openalex.org/W2157513581","https://openalex.org/W2162123190","https://openalex.org/W2169017219","https://openalex.org/W2170068381","https://openalex.org/W2266380092","https://openalex.org/W2418241888","https://openalex.org/W2419095482","https://openalex.org/W2471547622","https://openalex.org/W2736363424","https://openalex.org/W6648088815","https://openalex.org/W6657923763","https://openalex.org/W6665947976","https://openalex.org/W6666176746","https://openalex.org/W6672551507","https://openalex.org/W6676080064","https://openalex.org/W6683803252","https://openalex.org/W6684737103","https://openalex.org/W6716648943"],"related_works":["https://openalex.org/W2026275902","https://openalex.org/W2990688456","https://openalex.org/W2100910774","https://openalex.org/W2018658498","https://openalex.org/W2385608510","https://openalex.org/W1968903915","https://openalex.org/W2921758623","https://openalex.org/W2351130891","https://openalex.org/W2359757059","https://openalex.org/W2368236943"],"abstract_inverted_index":{"Knowledge":[0],"of":[1,7,16,53,86,89,97,126,157,162,185],"the":[2,14,40,74,87,90,130,163],"mass":[3],"and":[4,19,35,80,149,171,173],"inertial":[5],"parameters":[6],"a":[8,49,55,59,94,110,127,137,145,151,182],"humanoid":[9,56,107,147],"robot":[10,41,57,108,116,148],"is":[11,42,68],"crucial":[12],"for":[13,134],"development":[15],"model-based":[17],"controller":[18],"motion":[20],"planning":[21],"in":[22,93,160],"dynamics":[23],"situation.":[24],"Parameters":[25],"are":[26],"usually":[27],"provided":[28],"from":[29,176],"Computer":[30],"Aided":[31],"Design":[32],"(CAD)":[33],"data":[34,178],"thus":[36],"inaccurate":[37],"specially":[38],"if":[39],"modified":[43],"over":[44],"time.":[45,98],"In":[46],"this":[47],"paper,":[48],"practical":[50],"method":[51,140],"consisting":[52],"hanging":[54],"to":[58,63,73,76,83,109,120],"fix":[60,112],"force":[61,153],"sensor":[62],"perform":[64],"its":[65],"dynamic":[66,81],"identification":[67],"proposed.":[69],"This":[70,99],"allows,":[71],"contrary":[72],"literature,":[75],"generate":[77,121],"very":[78],"exciting":[79,123,187],"motions":[82],"identify":[84],"most":[85],"elements":[88],"inertia":[91],"tensors":[92],"reduced":[95],"amount":[96],"procedure":[100],"transforms":[101],"an":[102],"instable":[103],"floating":[104],"base":[105,113],"legged":[106],"safe":[111],"tree":[114],"structure":[115],"which":[117],"makes":[118],"easier":[119],"optimal":[122,186],"motions.":[124,188],"Because":[125],"better":[128],"excitation":[129],"overall":[131],"trajectory":[132],"lasts":[133],"less":[135],"than":[136],"minute.":[138],"The":[139],"was":[141,179],"experimentally":[142],"validated":[143],"with":[144,181],"HOAP3":[146],"using":[150],"6-axis":[152],"sensor.":[154],"A":[155],"reduction":[156],"3":[158],"times":[159],"average":[161],"RMS":[164],"difference":[165],"between":[166],"measured":[167],"external":[168],"reaction":[169],"forces":[170],"moments":[172],"their":[174],"estimates":[175],"CAD":[177],"obtained":[180],"single":[183],"minute":[184]},"counts_by_year":[{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":1},{"year":2022,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
