Self-calibration of joint offsets for humanoid robots using accelerometer measurements

Guedelha, Nuno; Kuppuswamy, Naveen; Traversaro, Silvio; Nori, Francesco

doi:10.1109/humanoids.2016.7803427

Cited by 7 publications

(4 citation statements)

References 10 publications

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“…The selfcontact approach would yield more than a 1-dimensional constraint in case the contact position (and hence 3 components of the pose) could be measured such as when using artificial electronic skin [31,32,35]. Inertial sensors-in the robot head ( [2]) or distributed on the robot body [51,52]-could be also added. Finally, one could also calibrate both manipulators simultaneously.…”

Section: Discussion and Future Workmentioning

confidence: 99%

Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation

Stepanova,

Rozlivek,

Puciow

et al. 2020

Preprint

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We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the manipulators, calibration of the complete kinematic chain (DH parameters), and we compare our results with ground truth measurements provided by a laser tracker. Our main findings are: (1) When applying the complementary calibration approaches in isolation, the self-contact approach yields the best and most stable results. (2) All combinations of more than one approach were always superior to using any single approach in terms of calibration errors as well as the observability of the estimated parameters. Combining more approaches delivers robot parameters that better generalize to the parts of workspace not used for the calibration. (3) Sequential calibration, i.e. calibrating cameras first and then robot kinematics, is more effective than simultaneous calibration of all parameters. In real experiments, we employ two industrial manipulators mounted on a common base. The manipulators are equipped with force/torque sensors at their wrists, with two cameras attached to the robot base, and with special end effectors with fiducial markers. We collect a new comprehensive dataset for robot kinematic calibration and make it publicly available. The dataset and its analysis provide quantitative and qualitative insights that go beyond the specific manipulators used in this work and are applicable to self-contained robot kinematic calibration in general.

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Section: Discussion and Future Workmentioning

confidence: 99%

Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation

Stepanova,

Rozlivek,

Puciow

et al. 2020

Preprint

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show abstract

“…Next to cameras, inertial sensors also contain information that can be exploited for calibration. Kinematic calibration was shown exploiting 3-axis accelerometers embedded in the artificial skin modules distributed on robot body [12], [2] or in the control boards on the iCub [6].…”

Section: Related Workmentioning

confidence: 99%

“…Our work is motivated by calibration in the real worldlike different approaches to kinematic calibration of the iCub humanoid robot relying on self-observation [4], self-touch [5], or inertial measurements [6]-but our contribution here is mostly theoretical. Our goal is to get insights into the pros and cons of different optimization problem formulations and answer questions like whether a "divide-and-conquer" approach should be applied or whether it is beneficial to calibrate multiple chains simultaneously.…”

Section: Introductionmentioning

confidence: 99%

Robot Self-Calibration Using Multiple Kinematic Chains—A Simulation Study on the iCub Humanoid Robot

Štěpánová

Pajdla

Hoffmann

2019

IEEE Robot. Autom. Lett.

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Proper calibration is key for the performance of every robot. Pushed by societal needs and economic opportunities, robots are leaving fixed factory floors and are deployed in more versatile ways both in industry and outside, which increases the need for automated calibration procedures. At the same time, advances in sensor technology make affordable but increasingly accurate devices such as RGB-D and tactile sensors available, making it possible to perform automated self-contained calibration relying on redundant information in these sensory streams. In this work, we take the example of a humanoid robot with a stereo camera system and force-sensitive end-effectors and quantitatively compare the performance of kinematic calibration by employing different combinations of intersecting kinematic chains-either through self-observation or self-touch.

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“…Self-Balancing robot is implementing the inverted pendulum algorithm [1]. Self-Balancing Robot uses accelerometer [2] and gyro sensor in the reading position of the tilt [3]. This robot maintains its equilibrium by moving the motors which is connected to the wheels.…”

Section: Introductionmentioning

confidence: 99%

Disturbance rejection using feed-forward control system on self balancing robot

Prasetio

Kurniawan

2018

MATEC Web Conf.

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This research implements self-balancing robot using 3 algorithms. There are PID Controller, Ensemble Kalman Filter and Feed-Forward Control system. The PID controller function is as a robot equilibrium control system. The Kalman Ensemble algorithm is used to reduce noise measurement of accelerometer and gyroscope sensors. The PID controller and Ensemble Kalman filter were implemented on self-balancing robot in previous research. In this paper, we added the Feed-Forward controller that serves to detect disturbance derived from the unevenness of the ground. Disturbance is detected using 2 proximity sensors. Base on test results that the system can detect disturbance with an average delay of 2.15 seconds at Kff optimal value is 2.92. Feed-Forward effects result in self-balancing robots increasing power so that the pitch of the robot changes to anticipation of disturbance.

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Self-calibration of joint offsets for humanoid robots using accelerometer measurements

Cited by 7 publications

References 10 publications

Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation

Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation

Robot Self-Calibration Using Multiple Kinematic Chains—A Simulation Study on the iCub Humanoid Robot

Disturbance rejection using feed-forward control system on self balancing robot

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