Kinematic and dynamic calibration method and system for a legged robot with force control joint and the robot

摘要

A method for calibrating a force-controlled, biped humanoid robot. The method includes selecting a kinematic constraint for the humanoid robot such as maintain the two feet in flat contact with the floor. The method includes moving the humanoid robot into a plurality of poses while enforcing the kinematic constraint. The method includes, during the moving or posing step, collecting angle measurements for a set of joints of the humanoid robot and then, with a processor, running a kinematic calibration module to determine angular offsets for the robot joints to allow determination of joint torques by a robot controller with truer angular orientations. The method includes, during the moving step, collecting relative orientation data from an inertial measurement unit (IMU) mounted on the pelvis link, and the angular offsets are determined using relative orientation data. All data is collected from devices on the robot, and no external data collection is required.