Control

Mass Estimation

Mass estimation is the online or offline identification of the mass and related inertial parameters of a robot's links or a grasped payload from motion and force data. Classical approaches exploit the linearity of rigid-body dynamics in inertial parameters, solving least-squares problems over joint torques and accelerations; online variants use recursive estimators after grasping an unknown object to update feedforward compensation.

Why it matters for physical AI

Picking up an unknown object changes the dynamics a controller must compensate; fast payload identification preserves tracking accuracy and stability, and is essential for safe handling of variable goods in logistics.