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This paper demonstrates simultaneous identification and control of thehumanoid robot, Valkyrie, utilizing Spatial Vector Algebra (SVA). Inparticular, the inertia, Coriolis-centrifugal and gravity terms for thedynamics of a robot are computed using spatial inertia tensors. With theassumption that the link lengths or the distance between the joint axes areaccurately known, it will be shown that inertial properties of a robot can bedirectly evaluated from the inertia tensor. An algorithm is proposed toevaluate the regressor, yielding a run time of $O(n^2)$. The efficiency of thisalgorithm yields a means for online system identification via the SVA--basedregressor and, as a byproduct, a method for accurate model-based control.Experimental validation of the proposed method is provided through itsimplementation in three case studies: offline identification of a doublependulum and a $4$-DOF robotic leg, and online identification and control of a$4$-DOF robotic arm.

System Identification and Control of Valkyrie through SVA--Based Regressor Computation