| Publication type: |
Article in Proceedings |
| Author: |
Tobias Kastner, Thomas Röfer, Tim Laue |
| Title: |
Automatic Robot Calibration for the NAO |
| Book / Collection title: |
RoboCup 2014: Robot World Cup XVIII |
| Volume: |
8992 |
| Page(s): |
233 – 244 |
| Series: |
Lecture Notes in Artificial Intelligence |
| Year published: |
2015 |
| Publisher: |
Springer, Heidelberg |
| Abstract: |
In this paper, we present an automatic approach for the kinematic calibration of the humanoid robot NAO. The kinematic calibration has a deep impact on the performance of a robot playing soccer, which is walking and kicking, and therefore it is a crucial step prior to a match. So far, the existing calibration methods are time-consuming and error-prone, since they rely on the assistance of humans. The automatic calibration procedure instead consists of a self-acting measurement phase, in which two checkerboards, that are attached to the robot's feet, are visually observed by a camera under several different kinematic configurations, and a final optimization phase, in which the calibration is formulated as a non-linear least squares problem, that is finally solved utilizing the Levenberg-Marquardt algorithm. |
| PDF Version: |
http://www.informatik.uni-bremen.de/kogrob/papers/RC-Kastner-etal-15.pdf |
| Status: |
Reviewed |
| Last updated: |
05. 09. 2017 |
|
 |
