Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: The inertial parameters are important to generate motion patterns for humanoid robots. Conventional identification methods can be used to estimate these parameters; hover they required the joint torque estimates that can be obtained by modeling of the transmission or by direct measurements. To overcome that issue  have recently developed a new method to estimate the inertial parameters of legged systems. By using the base-link equations only,  obtain a reduced identification model that is free of joint torque estimates.   propose to apply the method to a human-size humanoid robot. The preliminary experimental results are given and discussed.
['Ko Ayusawa', 'Gentiane Venture', 'Yoshihiko Nakamura']
I am writing a research paper on a idea Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link
[{"from": "human", "value": "I am writing a research paper on a idea Identification of the inertial parameters of a humanoid robot using unactuated dynamics of the base link"}, {"from": "gpt", "value": "Thats a unique idea.You should consider the following idea to enhance your idea so that it would impact uniquely: The inertial parameters are important to generate motion patterns for humanoid robots. Conventional identification methods can be used to estimate these parameters; hover they required the joint torque estimates that can be obtained by modeling of the transmission or by direct measurements. To overcome that issue  have recently developed a new method to estimate the inertial parameters of legged systems. By using the base-link equations only,  obtain a reduced identification model that is free of joint torque estimates.   propose to apply the method to a human-size humanoid robot. The preliminary experimental results are given and discussed."}]