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

Mechanism calibration is an important and nontrivial task in robotics. Advances in sensor technology make affordable but increasingly accurate devices such as cameras and tactile sensors available, making it possible to perform automated self-contained calibration relying on redundant information in...

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Bibliographic Details
Published in:	IEEE robotics and automation letters Vol. 4; no. 2; pp. 1900 - 1907
Main Authors:	Stepanova, Karla, Pajdla, Tomas, Hoffmann, Matej
Format:	Journal Article
Language:	English
Published:	Piscataway IEEE 01.04.2019 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Calibration calibration and identification Cameras Chains End effectors force and tactile sensing Humanoid Humanoid robots Kinematics Noise measurement Optimization optimization and optimal control Parameters Performance degradation Perturbation Robot vision systems Robotics Robots Self calibration Tactile sensors (robotics) Touch
ISSN:	2377-3766, 2377-3766
Online Access:	Get full text
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