University of Twente Student Theses
Inertial parameter identification of bipedal systems : a simulation-based comparison
Gaag, N. van der (2024) Inertial parameter identification of bipedal systems : a simulation-based comparison.
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| Abstract: | This thesis presents the implementation of inertial parameter identification using least-squares estimation, comparing four methods to solve the resulting equations. In the first chapters the equation of motion is written linearly in the inertial parameters, which leads to a least squares problem that cannot be solved directly. In the included paper, the least squares problem is scaled using measurement uncertainty in the joints and a prior estimation, and solved using a singular value decomposition. The effects of scaling are examined by comparing the results of the unscaled, and multiple scaled problems. Using simulation data of the Symbitron lower-limb exoskeleton, it is shown that the row- and column-scaled version performs best, despite being sensitive to a prior estimation. |
| Item Type: | Essay (Master) |
| Faculty: | ET: Engineering Technology |
| Subject: | 33 physics, 50 technical science in general, 52 mechanical engineering |
| Programme: | Mechanical Engineering MSc (60439) |
| Link to this item: | https://purl.utwente.nl/essays/99066 |
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