相关论文: Humanoid Robot Whole-body Geometric Calibration wi…
Motion imitation is a pivotal and effective approach for humanoid robots to achieve a more diverse range of complex and expressive movements, making their performances more human-like. However, the significant differences in kinematics and…
Mechanism calibration is an important and non-trivial task in robotics. Advances in sensor technology make affordable but increasingly accurate devices such as cameras and tactile sensors available, making it possible to perform automated…
This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…
We introduce a new, analytical method for generating whole-body motions for humanoid robots, which approximate the desired Composite Rigid Body (CRB) inertia. Our approach uses a reduced five mass model, where four of the masses are…
High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first time a kinematic model for a humanoid upper body…
Researchers have identified various sources of tool positioning errors for articulated industrial robots and have proposed dedicated compensation strategies. However, these typically require individual, specialized experiments with separate…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Humanoid robots often face significant balance issues due to the motion of their heavy limbs. These challenges are particularly pronounced when attempting dynamic motion or operating in environments with irregular terrain. To address this…
Reducing the complexity of higher order problems can enable solving them in analytical ways. In this paper, we propose an analytic whole body motion generator for humanoid robots. Our approach targets inexpensive platforms that possess…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic…
Enforcing balance of multi-limbed robots in multiple non-coplanar unilateral contact settings is challenging when a subset of such contacts are also induced in motion tasks. The first contribution of this paper is in enhancing the…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
This article propose a whole-body impedance coordinative control framework for a wheel-legged humanoid robot to achieve adaptability on complex terrains while maintaining robot upper body stability. The framework contains a bi-level control…
In this paper, we present an approach for generating a variety of whole-body motions for a humanoid robot. We extend the available Model Predictive Control (MPC) approaches for walking on flat terrain to plan for both vertical motion of the…
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It generates whole-body motions from desired foot trajectories and…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
Humans possess delicate dynamic balance mechanisms that enable them to maintain stability across diverse terrains and under extreme conditions. However, despite significant advances recently, existing locomotion algorithms for humanoid…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate relationships between the corresponding reference frames. For wheeled robots equipped with camera/lidar along…