Inertia parameter estimation of planar object in pushing operation

A technique that can estimate the inertia parameters of a graspless and unknown planar object, which is pushed by robot fingers, is proposed in this paper. Using the fingertip different accelerations (or angular accelerations), velocities (or angular velocities) and forces information measured in pushing operations, the algorithms to estimate the object mass (or moment of inertia) are described. Then, a line called C.M. line, is defined in this paper. The line contains the center of mass and is between two fingertips which are in point-contact with an object side. By using two or more than two orientation-different C.M. lines, an algorithm to estimate the center of mass of the object is given. Lastly, experimental verification on the proposed approach is performed and its results are outlined.