NDLI: Automatic kinematic chain calibration using artificial skin: Self-touch in the iCub humanoid robot

Content Provider	IEEE Xplore Digital Library
Author	Roncone, A. Hoffmann, M. Pattacini, U. Metta, G.
Copyright Year	2014
Description	Author affiliation: iCub Facility, Ist. Italiano di Tecnol., Genoa, Italy (Roncone, A.; Hoffmann, M.; Pattacini, U.; Metta, G.)
Abstract	Calibration continues to receive significant attention in robotics because of its key impact on performance and cost associated with the operation of complex robots. Calibration of kinematic parameters is typically the first mandatory step. To this end, a variety of metrology systems and corresponding algorithms have been described in the literature relying on measurements of the pose of the end-effector using a camera or laser tracking system, or, exploiting constraints arising from contacts of the end-effector with the environment. In this work, we take inspiration from the behavior of infants and certain animals, who are believed to use self-stimulation or self-touch to “calibrate” their body representations, and present a new solution to this problem by letting the robot close the kinematic chain by touching its own body. The robot considered in this paper is sensorized with tactile arrays for a total of about 4200 sensing points. The correspondence between the predicted contact point from existing forward kinematics and the actual position on the robot's `skin' provides sample data that allows refining the kinematic representation (DH parameters). The data collection procedure is automated - self-touch is autonomously executed by the robot - and can be repeated at any time, providing a compact self-calibration system that does not require an external measurement apparatus.
Starting Page	2305
Ending Page	2312
File Size	735490
Page Count	8
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907178
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Kinematics Joints Calibration Robot sensing systems Skin DH-HEMTs
Content Type	Text
Resource Type	Article

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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
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