The paper presented by Gautier and Khalil [1] gives a direct and efficient method to calculate most of the minimum inertial parameters of serial robots. Some parameters concerning the translational links between the first rotational joints which are not parallel need particular calculation, partial results concerning the case where these links are either perpendicular or parallel are given in the paper [1]. This correspondence presents a direct solution to this particular case, such that all the minimum inertial parameters can be obtained directly without calculating the energy or the dynamic model of any link.