Parameter identification of robotic systems with series elastic actuators

This paper presents a framework for identification of parameters of a robotic system with series elastic actuation. A model of the series elastic actuation is presented and a method for identification of the model parameters is proposed based on a regressor form of the system model. An algorithm is contributed for automatic derivation of the regressor form from the system equations of motion. The suggested framework is validated in experiments on a humanoid robot equipped with series elastic actuated joints.