Skip to main content
SpringerLink
Log in

The Calibration Method of Humanoid Robot Based on Double Support Constraints

  • Conference paper
  • First Online:
Book cover Intelligent Robotics and Applications (ICIRA 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10462))

Included in the following conference series:

Abstract

Aiming at the problem of calibration in humanoid robot, this paper presents a calibration method combining online and offline process. According to the constraint condition of the double support phase in the bipedal walking, we define the calibration problem as a nonlinear least squares problem and use the Levenberg-Marquardt method to solve the problem. We use NAO humanoid robot to collect data online and then the calibration process is performed offline on the local computer, so it does not affect the normal movement of the robot and improves the adaptability of the robot calibration.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution

Institutional subscriptions

References

  1. NAO Humanoid Robot. https://www.ald.softbankrobotics.com/en/cool-robots/nao. Accessed 16 June 2017

  2. Goswami, A., Quaid, A., Peshkin, M.: Complete parameter identication of a robot from partial pose information. In: 1993 IEEE International Conference on Robotics and Automation, Atlanta, GA, USA, pp. 168–173. IEEE Press (1993)

    Google Scholar 

  3. Elatta, A., Gen, L.P., Zhi, F.L., Daoyuan, Y., Fei, L.: An overview of robot calibration. Inf. Technol. J. 3(1), 74–78 (2004)

    Article  Google Scholar 

  4. Khalil, W., Besnard, S., Lemoine, P.: Comparison study of the geometric parameters calibration methods. Int. J. Robot. Autom. 15(2), 56–67 (2000)

    Google Scholar 

  5. Nickels, K., Huber, E.: Hand-Eye calibration of RoboNaut. https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20100033083.pdf. Accessed 16 June 2017

  6. Strobl, K.H., Hirzinger, G.: Optimal hand-eye calibration. In: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, pp. 4647–4653. IEEE Press (2006)

    Google Scholar 

  7. Birbach, O., Bäuml, B., Frese, U.: Automatic and self-contained calibration of a multi-sensorial humanoid’s upper body. In: 2012 IEEE International Conference on Robotics and Automation, Saint Paul, MN, USA, pp. 3103–3108. IEEE Press (2012)

    Google Scholar 

  8. Pradeep, V., Konolige, K., Berger, E.: Calibrating a Multi-arm multi-sensor robot a bundle adjustment approach. In: Khatib, O., Kumar, V., Sukhatme, G. (eds.) Experimental Robotics. Springer Tracts in Advanced Robotics, vol. 79, pp. 211–225. Springer, Heidelberg (2014). doi:10.1007/978-3-642-28572-1_15

    Chapter  Google Scholar 

  9. Kastner, T., Röfer, T., Laue, T.: Automatic robot calibration for the NAO. In: Bianchi, R.A.C., Akin, H.L., Ramamoorthy, S., Sugiura, K. (eds.) RoboCup 2014: Robot World Cup XVIII. LNCS, pp. 233–244. Springer, Heidelberg (2015). doi:10.1007/978-3-319-18615-3_19

    Chapter  Google Scholar 

  10. Madsen, K., Nielsen, H.B., Tingle, O.: Methods for non-linear least squares problems. http://www.imm.dtu.dk/pubdb/views/edoc_download.php/3215/pdf/imm3215.pdf. Accessed 16 June 2017

  11. Maier, D., Wrobel, S., Bennewitz, M.: Whole-body self-calibration via graph-optimization and automatic configuration selection. In: 2015 IEEE International Conference on Robotics and Automation, Seattle, WA, USA, pp. 5662–5668. IEEE Press (2015)

    Google Scholar 

  12. Röfer, T., Laue, T., Kuball, J., Lübken, A., Maaβ, F., Müller, J., Post, L., Richter-Klug, J., Schulz, P., Stolpmann, A., Stöwing, A., et al.: B-Human team report and code release 2016. https://github.com/bhuman/BHumanCodeRelease/raw/master/CodeRelease2016.pdf. Accessed 16 June 2017

Download references

Acknowledgement

This work has been funded by Program for Shandong Science and Technology (2012YD03111), Laboratory of Robotics in Ludong University, Multi-agent Systems Laboratory and Information Center in the University of Science and Technology of China.

Author information

Authors and Affiliations

  1. Ludong University, Yantai, Shandong, China

    Fei Liu & Li Tang

Authors
  1. Fei Liu
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Li Tang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding authors

Correspondence to Fei Liu or Li Tang .

Editor information

Editors and Affiliations

  1. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    YongAn Huang

  2. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Hao Wu

  3. Institute of Industrial Research, University of Portsmouth, Portsmouth, United Kingdom

    Honghai Liu

  4. School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan, China

    Zhouping Yin

Rights and permissions

Reprints and permissions

Copyright information

© 2017 Springer International Publishing AG

About this paper

Cite this paper

Liu, F., Tang, L. (2017). The Calibration Method of Humanoid Robot Based on Double Support Constraints. In: Huang, Y., Wu, H., Liu, H., Yin, Z. (eds) Intelligent Robotics and Applications. ICIRA 2017. Lecture Notes in Computer Science(), vol 10462. Springer, Cham. https://doi.org/10.1007/978-3-319-65289-4_18

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-65289-4_18

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-65288-7

  • Online ISBN: 978-3-319-65289-4

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation