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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2507.16369 |
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| _version_ | 1866913952914472960 |
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| author | Nguyen, Thanh D V Bonnet, Vincent Fernbach, Pierre Daney, David Lamiraux, Florent |
| author_facet | Nguyen, Thanh D V Bonnet, Vincent Fernbach, Pierre Daney, David Lamiraux, Florent |
| contents | Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often overlooked in the humanoid robotics community. To address this issue, we propose a novel practical method that utilizes a single plane, embedded force sensors, and an admittance controller to calibrate the whole-body kinematics of humanoids without requiring manual intervention. Given the complexity of humanoid robots, it is crucial to generate and determine a minimal set of optimal calibration postures. To do so, we propose a new algorithm called IROC (Information Ranking algorithm for selecting Optimal Calibration postures). IROC requires a pool of feasible candidate postures to build a normalized weighted information matrix for each posture. Then, contrary to other algorithms from the literature, IROC will determine the minimal number of optimal postures that are to be played onto a robot for its calibration. Both IROC and the single-plane calibration method were experimentally validated on a TALOS humanoid robot. The total whole-body kinematics chain was calibrated using solely 31 optimal postures with 3-point contacts on a table by the robot gripper. In a cross-validation experiment, the average root-mean-square (RMS) error was reduced by a factor of 2.3 compared to the manufacturer's model. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2507_16369 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Humanoid Robot Whole-body Geometric Calibration with Embedded Sensors and a Single Plane Nguyen, Thanh D V Bonnet, Vincent Fernbach, Pierre Daney, David Lamiraux, Florent Robotics Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often overlooked in the humanoid robotics community. To address this issue, we propose a novel practical method that utilizes a single plane, embedded force sensors, and an admittance controller to calibrate the whole-body kinematics of humanoids without requiring manual intervention. Given the complexity of humanoid robots, it is crucial to generate and determine a minimal set of optimal calibration postures. To do so, we propose a new algorithm called IROC (Information Ranking algorithm for selecting Optimal Calibration postures). IROC requires a pool of feasible candidate postures to build a normalized weighted information matrix for each posture. Then, contrary to other algorithms from the literature, IROC will determine the minimal number of optimal postures that are to be played onto a robot for its calibration. Both IROC and the single-plane calibration method were experimentally validated on a TALOS humanoid robot. The total whole-body kinematics chain was calibrated using solely 31 optimal postures with 3-point contacts on a table by the robot gripper. In a cross-validation experiment, the average root-mean-square (RMS) error was reduced by a factor of 2.3 compared to the manufacturer's model. |
| title | Humanoid Robot Whole-body Geometric Calibration with Embedded Sensors and a Single Plane |
| topic | Robotics |
| url | https://arxiv.org/abs/2507.16369 |