DocumentCode
580813
Title
Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data
Author
Moutinho, Nuno ; Brandão, Martim ; Ferreira, Ricardo ; Gaspar, José ; Bernardino, Alexandre ; Takanishi, Atsuo ; Santos-Victor, José
Author_Institution
Inst. for Syst. & Robot., Inst. Super. Tecnico, Lisbon, Portugal
fYear
2012
fDate
7-12 Oct. 2012
Firstpage
2070
Lastpage
2075
Abstract
Humanoid robots are complex sensorimotor systems where the existence of internal models are of utmost importance both for control purposes and for predicting the changes in the world arising from the system´s own actions. This so-called expected perception relies on the existence of accurate internal models of the robot´s sensorimotor chains.
Keywords
humanoid robots; parameter estimation; path planning; robot kinematics; sensors; IMU readings; absolute positioning; complex sensorimotor systems; correct offset estimation; inertial sensing; kinematic model; online humanoid robot head calibration; parameter estimation; proprioceptive sensors; relative encoders; robot internal sensorimotor chain models; robotic heads; visual data; visual input; zero position; Calibration; Cameras; Joints; Kinematics; Robot sensing systems;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on
Conference_Location
Vilamoura
ISSN
2153-0858
Print_ISBN
978-1-4673-1737-5
Type
conf
DOI
10.1109/IROS.2012.6386162
Filename
6386162
Link To Document