parameter identification techniques are particularly attractive to determine the inertial parameters of robot manipulators and manipulated payloads. these parameters are particularly needed in implementation of a model-based controller for robot manipulators. in this paper, the inertial parameters of a manipulated rigid-body object have been estimated. the newton-euler equations will be employe...

the main objective of this article is to optimize the walking pattern of a 2d humanoid robot with heel-off and toe-off motions in order to minimize the energy consumption and maximize the stability margin. to this end, at first, a gait planning method is introduced based on the ankle and hip joint position trajectories. then, using these trajectories and the inverse kinematics, the position tra...