Namhoon Cho, Taeyoon Lee, and Hyo-Sang Shin, ``Recursive Least Squares with Log-Determinant Divergence Regularisation for Online Inertia Identification,'' IEEE International Conference on Robotics and Automation, Yokohama, Japan, May 2024.

Step 1. Clone https://github.com/ROAM-Lab-ND/inertia_identification_minimal_examples to a directory (DIR).

Step 2. Copy the files in inertia_identification_minimal_examples folder in this repository to DIR chosen in Step 1.

Step 3. Run main.m using MATLAB in DIR.

Step 4. Save the workspace resulting from Step 3 into cheetah3_leg_ID.mat

Step 5. Run cheetah3_EntDiv_RLS.jl using Julia (on VS Code)

Step 6. Run Joint_I_PD_test.m using MATLAB in DIR.