Tenhumberg, Johannes und Bäuml, Berthold (2021) Calibration of an Elastic Humanoid Upper Body and Efficient Compensation for Motion Planning. In: 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020. IEEE. IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021-07-19 - 2021-07-21, Munich, Germany. doi: 10.1109/HUMANOIDS47582.2021.9555793. ISBN 978-172819372-4. ISSN 2164-0572.
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Offizielle URL: https://ieeexplore.ieee.org/abstract/document/9555793
Kurzfassung
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 incorporating joint and transversal elasticities. These elasticities lead to significant deformations due to the robot's own weight, and the resulting model is implicitly defined via a torque equilibrium. We successfully calibrate this model for DLR's humanoid Agile Justin, including all Denavit-Hartenberg parameters and elasticities. The calibration is formulated as a combined least-squares problem with priors and based on measurements of the end effector positions of both arms via an external tracking system. The absolute position error is massively reduced from 21mm to 3.1mm on average in the whole workspace. Using this complex and implicit kinematic model in motion planning is challenging. We show that for optimization-based path planning, integrating the iterative solution of the implicit model into the optimization loop leads to an elegant and highly efficient solution. For mildly elastic robots like Agile Justin, there is no performance impact, and even for a simulated highly flexible robot with 20 times higher elasticities, the runtime increases by only 30%.
elib-URL des Eintrags: | https://elib.dlr.de/146302/ | ||||||||||||
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Dokumentart: | Konferenzbeitrag (Poster) | ||||||||||||
Titel: | Calibration of an Elastic Humanoid Upper Body and Efficient Compensation for Motion Planning | ||||||||||||
Autoren: |
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Datum: | 20 Juli 2021 | ||||||||||||
Erschienen in: | 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020 | ||||||||||||
Referierte Publikation: | Ja | ||||||||||||
Open Access: | Ja | ||||||||||||
Gold Open Access: | Nein | ||||||||||||
In SCOPUS: | Ja | ||||||||||||
In ISI Web of Science: | Ja | ||||||||||||
DOI: | 10.1109/HUMANOIDS47582.2021.9555793 | ||||||||||||
Verlag: | IEEE | ||||||||||||
ISSN: | 2164-0572 | ||||||||||||
ISBN: | 978-172819372-4 | ||||||||||||
Status: | veröffentlicht | ||||||||||||
Stichwörter: | robotics, calibration, motion planning | ||||||||||||
Veranstaltungstitel: | IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) | ||||||||||||
Veranstaltungsort: | Munich, Germany | ||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||
Veranstaltungsbeginn: | 19 Juli 2021 | ||||||||||||
Veranstaltungsende: | 21 Juli 2021 | ||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Autonome, lernende Roboter [RO] | ||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||
Hinterlegt von: | Tenhumberg, Johannes | ||||||||||||
Hinterlegt am: | 08 Dez 2021 14:25 | ||||||||||||
Letzte Änderung: | 24 Apr 2024 20:45 |
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