Abstract: A method of determining a weight and a center of gravity of a load for a robot manipulator, the method including: gripping the load using an end effector; moving the load into a number n of distinct static poses; determining an external wrench wrench Fext for each of the n static poses; determining, in a base coordinate system, at least components of each external wrench Fext that indicate the external forces; determining a particular estimation of the weight of the load from a particular component pointing in a direction of a gravity vector from among the components of each external wrench Fext that indicate the external forces in the base coordinate system, and from a magnitude of the gravity vector; determining the weight of the load by averaging respective estimations of the weight of the load; determining estimations of coordinates of the center of gravity of the load for each of the n static poses based on the weight of the load or the particular estimation of the weight of the load determined for a par