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

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00335897" target="_blank" >RIV/68407700:21230/19:00335897 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/19:00335897

Result on the web

<a href="https://doi.org/10.1109/LRA.2019.2898320" target="_blank" >https://doi.org/10.1109/LRA.2019.2898320</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2019.2898320" target="_blank" >10.1109/LRA.2019.2898320</a>

Result language

angličtina

Original language name

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

Original language description

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 these sensory streams. In this letter, we use a simulated iCub humanoid robot with a stereo camera system and end-effector contact emulation to quantitatively compare the performance of kinematic calibration by employing different combinations of intersecting kinematic chains-either through self-observation or self-touch. The parameters varied were as follows: first, type and number of intersecting kinematic chains used for calibration, second, parameters and chains subject to optimization, third, amount of initial perturbation of kinematic parameters, fourth, number of poses/configurations used for optimization, and fifth, amount of measurement noise in end-effector positions/cameras. The main findings are as follows: 1) calibrating parameters of a single chain (e.g., one arm) by employing multiple kinematic chains ("self-observation" and "self-touch") is superior in terms of optimization results as well as observability; 2) when using multichain calibration, fewer poses suffice to get similar performance compared to when, for example, only observation from a single camera is used; 3) parameters of all chains (here 86 DH parameters) can be subject to calibration simultaneously and with 50 (100) poses, end-effector error of around 2 (1) mm can be achieved; and 4) adding noise to a sensory modality degrades performance of all calibrations employing the chains relying on this information.

Czech name

—

Czech description

—

Type

J_SC - Article in a specialist periodical, which is included in the SCOPUS database

CEP classification

—

OECD FORD branch

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Project

Result was created during the realization of more than one project. More information in the Projects tab.

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2019

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Volume of the periodical

4

Issue of the periodical within the volume

2

Country of publishing house

US - UNITED STATES

Number of pages

8

Pages from-to

1900-1907

UT code for WoS article

000460678700008

EID of the result in the Scopus database

2-s2.0-85062593435