2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids) 2023
DOI: 10.1109/humanoids57100.2023.10375208
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Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements

Johannes Tenhumberg,
Leon Sievers,
Berthold Bäuml

Abstract: A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a multi-fingered robotic hand can be precisely calibrated only by moving the tips of the fingers pairwise into contact. The only prerequisite for this is sensitive contact detection, e.g., by torque-sensing in the joints (as in our DLR-Hand II) or tactile skin. The measurement function for… Show more

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