Cart (Loading....) | Create Account
Close category search window
 

Practical kinematic and dynamic calibration methods for force-controlled humanoid robots

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

1 Author(s)
Yamane, K. ; Disney Res. Pittsburgh, Pittsburgh, PA, USA

This paper presents methods and experimental results regarding the identification of kinematic and dynamic parameters of force-controlled biped humanoid robots. We first describe a kinematic calibration method to estimate joint angle sensor offsets. The method is practical in the sense that it only uses joint angle and link orientation sensors, which most humanoid robots are equipped with. The basic idea is to solve an optimization problem that represents a kinematic constraint that can be easily enforced, such as placing both feet flat on floor. We then present two methods to identify physically consistent mass and local center of mass parameters even when obtaining enough excitation is difficult, as is always the case in humanoid robots. We demonstrate by experiment that these methods give good identification results even when the regressor has a large condition number. Moreover, we show that gradient-based optimization performs better than the least- square method in many cases.

Published in:

Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on

Date of Conference:

26-28 Oct. 2011

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.