Watch Me Calibrate My Force-Sensing Shoes!
Yuanfeng Han,Boren Jiang,Gregory S. Chirikjian,Yuanfeng Han,Boren Jiang,Gregory S. Chirikjian
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double support configurations. 2. The sensor parameters are determined by minimizing the error between the measured and modeled center of pressure (CoP) and ground reac...
