References
======  

- **A three-loop physical parameter identification method of robot manipulators considering physical feasibility and nonlinear friction mode**, *Tangzhong Song, Lijin Fang,Guanghui Liu, Hanyu Pang*, 2024
- **Comprehensive modeling and identification of nonlinear joint dynamics for collaborative industrial robot manipulators**, *Emil Madsen, Oluf Skov Rosenlund, David Brandt, Xuping Zhang*, 2020
- **Robotics Modelling Planning and Control**, *Bruno Siciliano, Lorenzo Sciavicco Luigi Villani,Giuseppe Oriolo*, 
- **Global Identification of Joint Drive Gains and Dynamic Parameters of Robots** , *Maxime Gautier*, *Sebastien Brio*, 2014
- **Direct Calculation of Minimum Set of Inertial Parameters of Serial Robots**, *Maxime Gautier, Wisama khalil*, 1990
- **Efficient Dynamic Computer Simulation of Robotic Mechanisms**, *M.W.Walker*, *D. E. Orin*, 1982  
- **Inertial Parameter Identification in Robotics: A Survey**, *Quentin Leboutet, Julien Roux, Alexandre Janot, Julio Rogelio, Gordon
Cheng*, 2021
- **Practical Modeling and Comprehensive System Identification of a BLDC Motor**, *Changle Xiang, Xiaoliang Wang, Yue Ma, and Bin Xu*, 2015
- **Identiable Parameters and Optimum Congurations for Robots Calibration**, *W. Khalil, M. Gautier and Ch. Enguehard*, 2009, *Robotica*
- **Recursive identification of certain structured time varying state-space models**, *M.H. Moazzam T. Hesketh, D.J.Clements*, 1997 
- **Comparison Between the CLOE Method and the DIDIM Method for Robots Identification**, *Alexandre Janot, Maxime Gautier, Anthony Jubien, and Pierre Olivier Vandanjon*, 2014
- **Robot Joint Modeling and Parameter Identification Using the Clamping Method**, *Christian Lehmann ∗ Bjorn Olofsson, Klas Nilsson, Marcel Halbauer, Mathias Haage, Anders Robertsson, Olof Sornmo, Ulrich Berger*, 2013
- **Fundamentals of friction modeling**, *Farid Al-Bender*, 2015
- **Constrained State Estimation - A Review**, *Nesrine Amor, Ghualm Rasool, and Nidhal C. Bouaynaya*, arXiv, 2022
- **The Pinocchio C++ library**,*J.Carpentier, G.Saurel, G.Buondonno, J.Mirabel, F.Lamiraux, O.Stasse, N.Mansard*, 2019

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## Useful Materials

For system identification, refer to the following resources:

- [Verhaegen IJC 1992a](https://people.duke.edu/~hpgavin/SystemID/References/Verhaegen-IJC-1992a.pdf)
- [Batti's paper on Subspace Identification](http://www.diag.uniroma1.it/~batti/papers_ifsd/8.pdf)
- [DeCock Subspace ID EOLLS 2003](https://people.duke.edu/~hpgavin/SystemID/References/DeCock-SubspaceID-EOLLS-2003.pdf)
- https://web.mit.edu/braatzgroup/canonical_variate_analysis_based_contributions_for_fault_identification.pdf

https://jax.readthedocs.io/en/latest/index.html