Abstract
We experimentally identify the human body dynamics from motion capture data and contact force measurements. We make use of the 6 base-link equations to write the identification model. We have shown that the obtained system is sufficient to estimate the whole base inertial parameters. The method is computationally efficient; and allows to identify the pure inertial parameters without transmission, friction considerations. However finding persistent exciting trajectories is a drawback of the method. In this paper we put emphasis in describing persistent exciting trajectories that are suitable to obtain accurate results. We propose a method to automatically select the set of motions used for the identification in order to optimize the computation time and the accuracy of the identified parameters. For the experiments we make use of gymnastic motions. Each of the 3 subjects -of different body conformations- perform 29 types of motions. The identification method and the automatic motions selection method are both applied to obtain the inertial parameters of one subject.
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