Скачать или смотреть 2014 Automatic Robot Kinematic Modeling with a Modular Artificial Skin

In this video, we present a new approach to automatically acquire the kinematic model of a robot. 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 then 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 a low-grade motion sensor. The video highlights the practicability of our approach and visually complements all explanations in our Humanoids 2014 paper "Automatic Robot Kinematic Modeling with a Modular Artificial Skin".