看我校准我的力感鞋！
Watch Me Calibrate My Force-Sensing Shoes!
摘要：
针对小型人形机器人，提出了一种新的足力传感器自标定方法。该方法包括两个步骤：1.机器人被命令沿着规划的全身轨迹在不同的双支撑配置。2.传感器参数的确定，通过最小化之间的误差测量和建模的压力中心（CoP）和地面反作用力（GRF）在机器人的运动使用优化。这是第一次提出的自主校准方法，脚力传感器在较小的人形机器人的设备。此外，我们引入了一种高精度的手动校准方法来建立CoP地面实况，该方法用于使用自校准来验证测量的CoP。结果表明，自校准可以准确地估计CoP和GRF没有任何人工干预。我们的方法证明使用NAO人形平台和我们以前提出的力传感鞋。
英文摘要：
This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double support configurations. 2. The sensor parameters are determined by minimizing the error between the measured and modeled center of pressure (CoP) and ground reaction force (GRF) during the robot's movement using optimization. This is the first proposed autonomous calibration method for foot force-sensing devices in smaller humanoid robots. Furthermore, we introduce a high-accuracy manual calibration method to establish CoP ground truth, which is used to validate the measured CoP using self-calibration. The results show that the self-calibration can accurately estimate CoP and GRF without any manual intervention. Our method is demonstrated using a NAO humanoid platform and our previously presented force-sensing shoes.
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