Provided is an identification method of a mechanical parameter without measuring joint torque. The movement of a humanoid expressed by an articulated link mechanism which is not fixed to the environment is represented by a spatial motion of an arbitrarily selected base link and a joint motion of a link system. Only a dynamic equation of the base link of the humanoid is used. The posture and position of the body (base link) of the robot, each joint angle, and the floor reaction force are measured to identify the mechanical parameter of the entire body of the humanoid. The mechanical parameter identification method can be applied to a human body.
