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On this basis, a step-by-step identification method from the end-effector link to the base link, referred to as \u201cE-B\u201d identification method, is proposed. Simulation verification is carried out on a quadruped robot with 16 degrees of freedom in Gazebo, and the validity of the method proposed is discussed.<\/jats:p>","DOI":"10.1017\/s0263574721000783","type":"journal-article","created":{"date-parts":[[2021,10,19]],"date-time":"2021-10-19T00:07:36Z","timestamp":1634602056000},"page":"747-761","source":"Crossref","is-referenced-by-count":5,"title":["Modeling and base parameters identification of legged robots"],"prefix":"10.1017","volume":"40","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1127-7668","authenticated-orcid":false,"given":"Xu","family":"Chang","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Honglei","family":"An","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Hongxu","family":"Ma","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2021,10,18]]},"reference":[{"key":"S0263574721000783_ref25","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574715000934"},{"key":"S0263574721000783_ref29","doi-asserted-by":"publisher","DOI":"10.1109\/70.56663"},{"key":"S0263574721000783_ref6","doi-asserted-by":"publisher","DOI":"10.1109\/70.56655"},{"key":"S0263574721000783_ref20","doi-asserted-by":"publisher","DOI":"10.1006\/mssp.1996.0039"},{"key":"S0263574721000783_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/70.631234"},{"key":"S0263574721000783_ref26","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574720001307"},{"key":"S0263574721000783_ref24","doi-asserted-by":"crossref","unstructured":"[24] Vantilt, J. , Aertbelien, E. , Groote, F. 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