@inproceedings{Mistry_IICHR_2009,
  title = {Inertial parameter estimation of floating-base humanoid systems using partial force sensing},
  booktitle = {IEEE-RAS International Conference on Humanoid Robots (Humanoids 2009)},
  abstract = {Recently, several controllers have been proposed
  for humanoid robots which rely on full-body dynamic models.
  The estimation of inertial parameters from data is a critical
  component for obtaining accurate models for control. However,
  floating base systems, such as humanoid robots, incur added
  challenges to this task (e.g. contact forces must be measured,
  contact states can change, etc.) In this work, we outline
  a theoretical framework for whole body inertial parameter
  estimation, including the unactuated floating base. Using a
  least squares minimization approach, conducted within the nullspace
  of unmeasured degrees of freedom, we are able to use a
  partial force sensor set for full-body estimation, e.g. using only
  joint torque sensors, allowing for estimation when contact force
  measurement is unavailable or unreliable (e.g. due to slipping,
  rolling contacts, etc.). We also propose how to determine the
  theoretical minimum force sensor set for full body estimation,
  and discuss the practical limitations of doing so.},
  address = {Paris, Dec.7-10},
  year = {2009},
  note = {clmc},
  slug = {mistry_iichr_2009},
  author = {Mistry, M. and Schaal, S. and Yamane, K.},
  crossref = {p10332},
  url = {http://www-clmc.usc.edu/publications/M/mistry-Humanoids2009.pdf}
}