论文标题
看着我校准我的力量感应鞋！
Watch Me Calibrate My Force-Sensing Shoes!
论文作者
论文摘要
本文提出了一种新型的方法，用于较小的类人机器人自我校准其脚力传感器。该方法由两个步骤组成：1。命令机器人以不同的双支持配置沿计划的全身轨迹移动。 2。通过优化，在机器人运动过程中，使用优化在机器人运动过程中最小化测量和建模的压力中心（COP）和地面反作用力（GRF）之间的误差来确定传感器参数。这是针对较小的人形机器人中的脚力传感器设备的第一个提议的自主校准方法。此外，我们引入了一种高准确的手动校准方法来建立COP地面真理，该方法用于使用自校准来验证测得的COP。结果表明，自校准可以准确估计COP和GRF，而无需任何手动干预。使用NAO类人动物平台和先前呈现的力感密度鞋来证明我们的方法。
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double support configurations. 2. The sensor parameters are determined by minimizing the error between the measured and modeled center of pressure (CoP) and ground reaction force (GRF) during the robot's movement using optimization. This is the first proposed autonomous calibration method for foot force-sensing devices in smaller humanoid robots. Furthermore, we introduce a high-accuracy manual calibration method to establish CoP ground truth, which is used to validate the measured CoP using self-calibration. The results show that the self-calibration can accurately estimate CoP and GRF without any manual intervention. Our method is demonstrated using a NAO humanoid platform and our previously presented force-sensing shoes.
