Whole-Body Elasto-Geometrical Calibration of Wheeled Humanoid Robots Using a Shared-Waist Dual-Chain Model
Overview
This research introduces a shared-waist dual-chain calibration framework for wheeled humanoid robots equipped with arms on a single actuated waist and lacking torque sensors.
Generated from attributed reports · Updated 2 days ago
Event evidence and corrections
0 attributed source owners. Ownership does not establish independent confirmation. Quantities are reported separately and are never added together.
Reported quantity · mean error reduction: 0.5 other · Basis not reported · Differing source assertions
“mplements. On two robots with different waists, each without and with a payload, calibration reduces the mean errors on held-out poses from 11.3-31.1 mm to 0.50-1.11 mm. For every training-set size from 20 poses to all, the method has 17-63% lower mean errors than adaptations of two published whole-body calibration methods, mainly through the waist compliance. Independent calibration yields two waist models; using ei”
Exact source · revision 1Source owner not reported
Reported quantity · mean error reduction: 11.3 other · Basis not reported · Differing source assertions
“mplements. On two robots with different waists, each without and with a payload, calibration reduces the mean errors on held-out poses from 11.3-31.1 mm to 0.50-1.11 mm. For every training-set size from 20 poses to all, the method has 17-63% lower mean errors than adaptations of two published whole-body calibration methods, mainly through the waist compliance. Independent calibration yields two waist models; using ei”
Exact source · revision 1Source owner not reported
Reported quantity · error increase: 3.21 other · Basis not reported
“ther for both arms raises the other arm's error to up to 3.21 mm.”
Exact source · revision 1Source owner not reported
Reported quantity · training set size: 20 other · Basis not reported
“mplements. On two robots with different waists, each without and with a payload, calibration reduces the mean errors on held-out poses from 11.3-31.1 mm to 0.50-1.11 mm. For every training-set size from 20 poses to all, the method has 17-63% lower mean errors than adaptations of two published whole-body calibration methods, mainly through the waist compliance. Independent calibration yields two waist models; using ei”
Exact source · revision 1Source owner not reported
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- arXiv Robotics — research abstractsSignalWhole-Body Elasto-Geometrical Calibration of Wheeled Humanoid Robots Using a Shared-Waist Dual-Chain Model
This research introduces a shared-waist dual-chain calibration framework for wheeled humanoid robots equipped with arms on a single actuated waist and lacking torque sensors.
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