Can pinocchio be used to identify robot dynamic parameters?

[LHTLiu]

Hello, team. Can pinocchio be used to identify robot dynamic parameters? Or do you know if there is any library related to dynamics identification?

[florent-lamiraux]

Hello @LIUHAITAO-CH .
You can try our toolbox based on pinocchio described here: https://laas.hal.science/hal-04234676v1/file/FIGAROH_IROS_2022.pdf.
The source code and installation instructions can be found here: https://gitlab.laas.fr/gepetto/figaroh.
If you need some help, do not hesitate to contact the corresponding author of the paper.

[jcarpent]

Hi @LIUHAITAO-CH,

Depending on your needs, Pinocchio implements basic routines for doing robot identifications (these are typically leveraged in Figaroh). You can easily use them to implement your own identification pipeline.

[LHTLiu]

ok，thanks，i‘ll study it

[cmastalli]

Our latest paper proposes a novel way to perform inertial estimation (and localization). This might be useful for anyone interested in this topic.

We have used Pinocchio to build this algorithm and we plan to open source it in Crocoddyl within the next months.

https://arxiv.org/pdf/2403.17161.pdf

[LHTLiu]

Our latest paper proposes a novel way to perform inertial estimation (and localization). This might be useful for anyone interested in this topic.

We have used Pinocchio to build this algorithm and we plan to open source it in Crocoddyl within the next months.

https://arxiv.org/pdf/2403.17161.pdf

thanks,where is code?