Automatic robot kinematic modeling with a modular artificial skin

Philipp Mittendorfer, Emmanuel Dean, Gordon Cheng

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

7 Scopus citations

Abstract

In this paper, we present a new approach to automatically acquire the kinematic model of a robot equipped with a multi-modal, modular artificial skin. Here, we make use of the tri-axial accelerometer built into every cell of our artificial skin, along with a set of open loop test motions of the robot. With a circle point analysis we extract the relevant vectors to assemble a forward kinematic model. In comparison to existing approaches, our method builds and calibrates a kinematic model with minimal motions around the initial workspace, does not require any external metrology system and only requires low-grade motion sensors. We demonstrate the robustness of our approach by estimating the kinematic parameters of a UR-5 robotic arm mounted on an inertial dual arm platform.

Original languageEnglish
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Pages749-754
Number of pages6
ISBN (Electronic)9781479971749
DOIs
StatePublished - 12 Feb 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: 18 Nov 201420 Nov 2014

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
Volume2015-February
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580

Conference

Conference2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
Country/TerritorySpain
CityMadrid
Period18/11/1420/11/14

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