OATAO is an open access repository that collects the work of Toulouse researchers and makes it freely available over the web where possible Any correspondence concerning this service should be sent to the repository administrator: tech-oatao@listes-diff.inp-toulouse.fr This is an author’s version published in: http://oatao.univ-toulouse.fr/25526 To cite this version: Brunot, Mathieu and Janot, Alexandre and Carrillo, Francisco Javier and Cheong, Joono and Noël, Jean-Philippe Output error methods for robot identification. (2019) Journal of Dynamic Systems, Measurement, and Control, 142 (3). ISSN 0022-0434 Official URL: https://doi.org/10.1115/1.4045430 Open Archive Toulouse Archive Ouverte