Name
Abstract | ||
|---|---|---|
In this paper, we present a new approach to automatically acquire the kinematic model of a robot equipped with a multi-modal, modular artificial skin. Here, we make use of the tri-axial accelerometer built into every cell of our artificial skin, along with a set of open loop test motions of the robot. With a circle point analysis we extract the relevant vectors to assemble a forward kinematic model. In comparison to existing approaches, our method builds and calibrates a kinematic model with minimal motions around the initial workspace, does not require any external metrology system and only requires low-grade motion sensors. We demonstrate the robustness of our approach by estimating the kinematic parameters of a UR-5 robotic arm mounted on an inertial dual arm platform. |
Year | DOI | Venue |
|---|---|---|
2014 | 10.1109/HUMANOIDS.2014.7041447 | Humanoid Robots |
Keywords | Field | DocType |
manipulator kinematics,open loop systems,parameter estimation,UR-5 robotic arm,automatic robot kinematic modeling,circle point analysis,forward kinematic model,inertial dual arm platform,kinematic parameter estimation,low-grade motion sensors,multimodal modular artificial skin,open loop test motions,triaxial accelerometer | Computer vision,Robotic arm,Kinematics,Inverse kinematics,321 kinematic structure,Computer science,Workspace,Simulation,Robot kinematics,Artificial intelligence,Modular design,Robot | Conference |
ISSN | Citations | PageRank |
2164-0572 | 3 | 0.43 |
References | Authors | |
14 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Philipp Mittendorfer | 1 | 3 | 0.43 |
| Emmanuel Dean | 2 | 3 | 0.43 |
| Gordon Cheng | 3 | 1250 | 115.33 |