In this paper, we present an automatic approach for the kinematic calibration of the humanoid robot NAO. The kinematic calibration has a deep impact on the performance of a robot playing soccer, which is walking and kicking, and therefore it is a crucial step prior to a match. So far, the existing calibration methods are time-consuming and error-prone, since they rely on the assistance of humans. The automatic calibration procedure instead consists of a self-acting measurement phase, in which two checkerboards, that are attached to the robot's feet, are visually observed by a camera under several different kinematic configurations, and a final optimization phase, in which the calibration is formulated as a non-linear least squares problem, that is finally solved utilizing the Levenberg-Marquardt algorithm.
CITATION STYLE
Kastner, T., Rofer, T., & Laue, T. (2015). Automatic robot calibration for the NAO. In Lecture Notes in Artificial Intelligence (Subseries of Lecture Notes in Computer Science) (Vol. 8992, pp. 233–244). Springer Verlag. https://doi.org/10.1007/978-3-319-18615-3_19
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