Create model with uncertainty (unkown paramters that can be updated online)

[Hongyu-ZHOU]

Hi,

I am trying to create a model of a quadruped robot from urdf file, and use that model for an adaptive control algorithm. In that case, is it possible to add uncertainty in the model generated? Essentially, I want to have a nominal model generated from the urdf file, augmented with some unknown parts (a vector of known basis function times a vector of unknown parameters.).

Thank you very much.