Namhoon Cho, Taeyoon Lee, and Hyo-Sang Shin, ``Recursive Least Squares with Log-Determinant Divergence Regularisation for Online Inertia Identification,'' IEEE International Conference on Robotics and Automation, Yokohama, Japan, May 2024.
Step 1. Clone https://github.com/ROAM-Lab-ND/inertia_identification_minimal_examples to a directory (DIR).
Step 2. Copy the files in inertia_identification_minimal_examples folder in this repository to DIR chosen in Step 1.
Step 3. Run main.m using MATLAB in DIR.
Step 4. Save the workspace resulting from Step 3 into cheetah3_leg_ID.mat
Step 5. Run cheetah3_EntDiv_RLS.jl using Julia (on VS Code)
Step 6. Run Joint_I_PD_test.m using MATLAB in DIR.