Eventos Anais de eventos
COBEM 2017
24th ABCM International Congress of Mechanical Engineering
Experimental Calibration for the NAO Humanoid Robot
Submission Author:
José Maurício Santos Torres da Motta , DF , Brazil
Co-Authors:
Humberto Cascardo Demolinari, José Maurício Santos Torres da Motta
Presenter: Humberto Cascardo Demolinari
doi://10.26678/ABCM.COBEM2017.COB17-1195
Abstract
This paper explores the design of a calibration technique for the kinematic model for the NAO robot. Mobile humanoid robots usually present complex kinematic chains and dull and time-consuming off-line calibration methods. For the purpose of this paper NAO’s kinematic chain is separated into smaller end-to-end chain units and calibrated individually. By using Computer Vision techniques, we propose an experiment that combined with homogeneous transformations and forward kinematics analysis can lead to a reliable calibration technique. The main result expected is an accurate calibration for the robot kinematic chain.
Keywords
robot calibration, humanoid robotics, robot modelling, NAO robot
