• DocumentCode
    695155
  • 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
  • fYear
    2013
  • fDate
    15-17 Oct. 2013
  • Firstpage
    469
  • Lastpage
    476
  • 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;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Humanoid Robots (Humanoids), 2013 13th IEEE-RAS International Conference on
  • Conference_Location
    Atlanta, GA
  • ISSN
    2164-0572
  • Print_ISBN
    978-1-4799-2617-6
  • Type

    conf

  • DOI
    10.1109/HUMANOIDS.2013.7030016
  • Filename
    7030016
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=695155