  Articulated objects like doors, drawers, valves, and tools are pervasive in
our everyday unstructured dynamic environments. Articulation models describe
the joint nature between the different parts of an articulated object. As most
of these objects are passive, a robot has to interact with them to infer all
the articulation models to understand the object topology. We present a general
algorithm to estimate the inherent articulation models by exploiting the
momentum of the articulated system along with the interaction wrench while
manipulating the object. We validate our approach with experiments in a
simulation environment.
