Title :
STAC: Simultaneous tracking and calibration
Author :
Tingfan Wu ; Tassa, Yuval ; Kumar, Vikash ; Movellan, Javier ; Todorov, Emanuel
Author_Institution :
Dept. Comput. Sci. & Eng., UC San Diego, San Diego, CA, USA
Abstract :
System identification is an essential first step in robotic control. Here we focus on the calibration of kinematic sensors, such as joint angle potentiometers, tendon/actuator extension sensors and motion capture markers, on complex humanoid robots.
Keywords :
calibration; humanoid robots; parameter estimation; STAC; humanoid robot; kinematic sensor calibration; robotic control; sensor parameter estimation; simultaneous tracking and calibration; system identification; Joints; Kinematics; Potentiometers; Robot sensing systems; Tendons;
Conference_Titel :
Humanoid Robots (Humanoids), 2013 13th IEEE-RAS International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
978-1-4799-2617-6
DOI :
10.1109/HUMANOIDS.2013.7030016
