Spatial calibration of whole-body artificial skin on a humanoid robot: comparing self-contact, 3D reconstruction, and CAD-based calibration

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F21%3A00352663" target="_blank" >RIV/68407700:21230/21:00352663 - isvavai.cz</a>

Alternative codes found

RIV/68407700:21730/21:00352663

Result on the web

<a href="https://doi.org/10.1109/HUMANOIDS47582.2021.9555806" target="_blank" >https://doi.org/10.1109/HUMANOIDS47582.2021.9555806</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/HUMANOIDS47582.2021.9555806" target="_blank" >10.1109/HUMANOIDS47582.2021.9555806</a>

Result language

angličtina

Original language name

Spatial calibration of whole-body artificial skin on a humanoid robot: comparing self-contact, 3D reconstruction, and CAD-based calibration

Original language description

Robots were largely missing the sense of touch for decades. As artificial sensitive skins covering large areas of robot bodies are starting to appear, to be useful to the machines, sensor positions on the robot body are needed. In this work, a Nao humanoid robot was retrofitted with pressure-sensitive skin on the head, torso, and arms. We experimentally compare the accuracy and effort associated with the following skin spatial calibration approaches and their combinations: (i) combining CAD models and skin layout in 2D, (ii) 3D reconstruction from images, (iii) using robot kinematics to calibrate skin by self-contact. To acquire 3D positions of taxels on individual skin parts, methods (i) and (ii) were similarly laborious but 3D reconstruction was more accurate. To align these 3D point clouds with the robot kinematics, two variants of self-contact were employed: skin-on-skin and utilization of a custom end effector (finger). In combination with the 3D reconstruction data, mean calibration errors below the radius of individual sensors were achieved (2 mm). Significant perturbation of more than 100 torso taxel positions could be corrected using self-contact calibration, reaching approx. 3 mm mean error. This work is not a proof of concept but deployment of the approaches at scale: the outcome is actual spatial calibration of all 970 taxels on the robot body. As the different calibration approaches are evaluated in isolation as well as in different combinations, this work provides a guideline applicable to spatial calibration of different sensor arrays.

Czech name

—

Czech description

—

Type

D - Article in proceedings

CEP classification

—

OECD FORD branch

20204 - Robotics and automatic control

Project

<a href="/en/project/GX20-24186X" target="_blank" >GX20-24186X: Whole-body awareness for safe and natural interaction: from brains to collaborative robots</a><br>

Continuities

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

Publication year

2021

Confidentiality

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

Article name in the collection

2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids)

ISBN

978-1-7281-9372-4

ISSN

2164-0572

e-ISSN

2164-0580

Number of pages

8

Pages from-to

445-452

Publisher name

IEEE

Place of publication

Piscataway

Event location

Munich

Event date

Jul 19, 2021

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

000728400200052