Reproduce “Whole-Body Elasto-Geometrical Calibration of Wheeled Humanoid Robots Using a Shared-Waist Dual-Chain Model” on OpenResearch
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About this paper
Pengxin Zha, Yi Lu, Haojun Ma, Jun Zhu, Minghao Qiu, Xiaoyan Wang, Wei Shan, Maoqing Yao
The authors present DUAL-GC for calibrating both arms of a humanoid against one shared waist model. It estimates extrinsics, then jointly fits the arm chains and their waist using measurements from both hands. Across two robots under both load conditions, held-out target errors fell from 11.3–31.1 mm to 0.50–1.11 mm across four datasets, not as a pooled score.
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