NDLI: Calibration of a physics-based model of an anthropomimetic robot using Evolution Strategies

Content Provider	IEEE Xplore Digital Library
Author	Wittmeier, S. Gaschler, A. Jantsch, M. Dalamagkidis, K. Knoll, A.
Copyright Year	2012
Description	Author affiliation: Robotics and Embedded Systems, Faculty of Informatics, Technische Universität München, Munich, Germany (Wittmeier, S.; Gaschler, A.; Jantsch, M.; Dalamagkidis, K.; Knoll, A.)
Abstract	The control of tendon-driven and, in particular, of anthropomimetic robots using techniques from traditional robotics remains a very challenging task [1, 2]. Hence, we previously proposed to employ physics-based simulation engines to simulate the complex dynamics of this emerging class of robots [3] and to use the simulation model as an internal model for robot control [4]. This approach, however, relies on an accurate model to be successful. In this paper, we present the automated, steady-state pose calibration of a physics-based, anthropomimetic robot model using a (μ, λ)-Evolution Strategy. For the acquisition of the poses of the physical robot, a stereo-vision, infrared-marker based motion capture system with real-time capabilities was developed. The employed (μ, λ)-Evolution Strategy uses a Gaussian-based, non-isotropic, self-adapting mutation operator to explore the search space and reduce the simulation-reality gap. The obtained results are impressive, resulting in a reduction of joint angle errors in the range of one to two orders of magnitude and an absolute joint angle error of 0.5°–4.5° per pose evaluated.
Starting Page	445
Ending Page	450
File Size	968425
Page Count	6
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385591
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robots Potentiometers
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
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