Digit system-identification paper improves constrained-robot model tracking

Key points

• The paper introduces an iterative least-squares system-identification approach for constrained robots such as legged humanoids.
• The approach is validated in simulation and on real Agility Robotics Digit hardware, identifying motor inertia and joint-friction parameters.
• The work gives Digit a benchmark for improving model-based control through real-world constrained-system identification.