Self-Contained Kinematic Calibration of a Novel Whole-Body Artificial Skin for Human-Robot Collaboration
Kandai Watanabe,Matthew Strong,Mary West,Caleb Escobedo,Ander Aramburu,Krishna Chaitanya Kodur,Alessandro Roncone,Kandai Watanabe,Matthew Strong,Mary West,Caleb Escobedo,Ander Aramburu,Krishna Chaitanya Kodur,Alessandro Roncone
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with a Denavit-Hartenberg kinematic model, and on any skin equipped with Inertial Measurement Units (IMUs). To validate the proposed method, we first conduct extens...
