A method and system for identifying a work piece center of mass includes coupling a work piece to a manipulator assembly. The manipulator assembly includes a force and torque sensor. The work piece is positioned in at least two different orientations relative to a gravity vector with the manipulator assembly. The at least two different orientations include at least first and second orientations. In the first orientation the force and torque sensor measures a first torque and at least a first force associated with the work piece in the first orientation. In the second orientation the force and torque sensor measures a second torque associated with the work piece in the second orientation. The work piece center of mass is identified according to at least the measured first and second torques and at least the first force.