Self-Contained Kinematic Calibration of a Novel Whole-Body Artificial Skin for Human-Robot Collaboration
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)（2021）
Key words
accelerometer-based kinematic calibration algorithm,multiple sensor units,robot body,Denavit-Hartenberg kinematic model,Inertial Measurement Units,sub-cm positional error,ground truth data,seven degrees-of-freedom collaborative platform,stand-alone artificial skin,distributed avoidance controller,whole-body artificial skin,human-robot collaboration,self-contained kinematic calibration,obstacle avoidance,pose estimation
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