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Self-Contained Calibration of an Elastic Humanoid Upper Body with a Single Head-Mounted RGB Camera

Tenhumberg, Johannes and Winkelbauer, Dominik and Burschka, Darius and Bäuml, Berthold (2023) Self-Contained Calibration of an Elastic Humanoid Upper Body with a Single Head-Mounted RGB Camera. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE. IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), 2022-11-28 - 2022-11-30, Ginowan, Japan. doi: 10.1109/Humanoids53995.2022.10000184. ISBN 979-835030979-9. ISSN 2164-0572.

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Official URL: https://ieeexplore.ieee.org/document/10000184

Abstract

When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic tree is needed. Besides the accuracy of the calibrated model, the calibration process should be fast and self-contained, i.e., no external measurement equipment should be used. Therefore, we extend our prior work on calibrating the elastic upper body of DLR's Agile Justin by now using only its internal head-mounted RGB camera. We use simple visual markers at the ends of the kinematic chain and one in front of the robot, mounted on a pole, to get measurements for the whole kinematic tree. To ensure that the task-relevant cartesian error at the end-effectors is minimized, we introduce virtual noise to fit our imperfect robot model so that the pixel error has a higher weight if the marker is further away from the camera. This correction reduces the cartesian error by more than 20%, resulting in a final accuracy of 3.9mm on average and 9.1mm in the worst case. This way, we achieve the same precision as in our previous work, where an external cartesian tracking system was used.

Item URL in elib:https://elib.dlr.de/192923/
Document Type:Conference or Workshop Item (Speech)
Title:Self-Contained Calibration of an Elastic Humanoid Upper Body with a Single Head-Mounted RGB Camera
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Tenhumberg, JohannesUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Winkelbauer, DominikUNSPECIFIEDhttps://orcid.org/0000-0001-7443-1071UNSPECIFIED
Burschka, DariusTechnische Universität MünchenUNSPECIFIEDUNSPECIFIED
Bäuml, BertholdUNSPECIFIEDhttps://orcid.org/0000-0002-4545-4765UNSPECIFIED
Date:5 January 2023
Journal or Publication Title:2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
DOI:10.1109/Humanoids53995.2022.10000184
Publisher:IEEE
ISSN:2164-0572
ISBN:979-835030979-9
Status:Published
Keywords:Calibration, Elastic Humanoid
Event Title:IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
Event Location:Ginowan, Japan
Event Type:international Conference
Event Start Date:28 November 2022
Event End Date:30 November 2022
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Autonomous learning robots [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Tenhumberg, Johannes
Deposited On:25 Jan 2023 14:52
Last Modified:24 Apr 2024 20:54

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