SOURCE-LINKED INTELLIGENCE
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots
Accurate joint encoder offsets are essential for kinematic consistency in humanoid lower limbs, yet existing calibration methods typically require external motion-capture systems or fiducial targets. We present a self-contained calibration framework exploiting only onboard joint encoders and a pelvis-mounted IMU during static double-support contact. The inter-foot transform from forward kinematics must stay constant when both feet are fixed; minimizing its posture-dependent dispersion yields a nonlinear least-squares problem over the 12-dimensional offset vector. A Hessian eigenstructure analy
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Evidence & attribution
- arXiv · AI, language, vision and robotics · 2026-09-02T08:51:37.000Z
First collected: 2026-09-21T05:32:15.665Z. This is not the publication date.