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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

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