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View Code? Open in Web Editor NEWInertial parameters and internal force/torque parametric estimator for the iCub humanoid robot limbs
Inertial parameters and internal force/torque parametric estimator for the iCub humanoid robot limbs
The objective is to estimate the inertial parameters of the iCub limbs. Dependendies: - GURLS: https://github.com/LCSL/GURLS. More detail information can be found on GURLS manual. - iCub & Yarp installation can be found on http://wiki.icub.org/wiki/Linux:Installation_from_sources - kdl_codyco package installation https://github.com/traversaro/kdl_codyco - orocos_kdl package https://github.com/orocos/orocos_kinematics_dynamics/tree/master/orocos_kdl - iDynTree package installation https://github.com/robotology-playground/iDynTree How to build: Step 1 : Install all dependencies. Step 2 : make build directory #### mkdir build #### cd build Step 4 : Generate make file #### ccmake ../src Step 5 : Make #### make Step 6 : Run #### ./iCubParis02_simple_analysis --dataset ../datasets/part1-left.csv --results results.csv --parameters params.csv --lambda 1.0 --skip 100 --verbose Step 7 (Optional): Analyse results using the MATLAB script provided in "scripts"
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