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Inertial parameters characterise an object's motion under applied forces, andcan provide strong priors for planning and control of robotic actions tomanipulate the object. However, these parameters are not available a-priori insituations where a robot encounters new objects. In this paper, we describe andcategorise the ways that a robot can identify an object's inertial parameters.We also discuss grasping and manipulation methods in which knowledge ofinertial parameters is exploited in various ways. We begin with a discussion ofliterature which investigates how humans estimate the inertial parameters ofobjects, to provide background and motivation for this area of roboticsresearch. We frame our discussion of the robotics literature in terms of threecategories of estimation methods, according to the amount of interaction withthe object: purely visual, exploratory, and fixed-object. Each category isanalysed and discussed. To demonstrate the usefulness of inertial estimationresearch, we describe a number of grasping and manipulation applications thatmake use of the inertial parameters of objects. The aim of the paper is tothoroughly review and categorise existing work in an important, butunder-explored, area of robotics research, present its background andapplications, and suggest future directions. Note that this paper does notexamine methods of identification of the robot's inertial parameters, butrather the identification of inertial parameters of other objects which therobot is tasked with manipulating.

Estimation and Exploitation of Objects' Inertial Parameters in Robotic Grasping and Manipulation: A Survey