Self-Contained Multisensorial Calibration

The goal of this lab is to teach you about self-contained calibration of the robots and refresh your knowledge about numerical optimization. The presentation can be found here.

Calibration papers from our group:

J. Rozlivek, L. Rustler, K. Stepanova and M. Hoffmann, "Multisensorial robot calibration framework and toolbox," 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, pp. 459-466.

K. Stepanova, J. Rozlivek, F. Puciow, P. Krsek, T. Pajdla, M. Hoffmann, Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation, Robotics and Computer-Integrated Manufacturing, Volume 73, 2022.

K. Stepanova, T. Pajdla and M. Hoffmann, "Robot Self-Calibration Using Multiple Kinematic Chains—A Simulation Study on the iCub Humanoid Robot," in IEEE Robotics and Automation Letters, vol. 4, no. 2, pp. 1900-1907, April 2019.

A. Roncone, M. Hoffmann, U. Pattacini and G. Metta, "Automatic kinematic chain calibration using artificial skin: Self-touch in the iCub humanoid robot," 2014 IEEE International Conference on Robotics and Automation (ICRA), 2014, pp. 2305-2312.

L. Rustler, B. Potocna, M. Polic, K. Stepanova and M. Hoffmann, "Spatial calibration of whole-body artificial skin on a humanoid robot: comparing self-contact, 3D reconstruction, and CAD-based calibration," 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), 2021, pp. 445-452.

If you don't have Matlab, you can install it from CTU download page. For lsqnonlin, you also need to install the Optimization toolbox and Symbolic toolbox (all is included in the campus-wide license). If you do not want to install anything, you can use Matlab online. However, you still need to activate your Mathworks account as described on CTU download page. There are instructions in this PDF or go straight to Connect page and connect your MathWorks account with CTU license.

lsqnonlin library - Matlab documentation

Numeric methods textbook - OPT webpage

Matlab scripts for LM algorithm - Gitlab