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

Kód výsledku v 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>

Nalezeny alternativní kódy

RIV/68407700:21730/19:00335897

Výsledek na webu

<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>

Jazyk výsledku

angličtina

Název v původním jazyce

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

Popis výsledku v původním jazyce

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.

Název v anglickém jazyce

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

Popis výsledku anglicky

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.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

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

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

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

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

4

Číslo periodika v rámci svazku

2

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

1900-1907

Kód UT WoS článku

000460678700008

EID výsledku v databázi Scopus

2-s2.0-85062593435