Automatic kinematic chain calibration using artificial skin

This video deals with the task of solving the problem of self-(or double-)touch. This behaviour is defined as the robot being able to touch itself on a specific region of the skin, and it represents an unprecedented opportunity for a humanoid robot to achieve the simultaneous activation of multiple skin parts (in this video, patches belonging to the right hand and the left forearm). This high amount of information can be then used later on for exploiting a completely autonomous calibration of the body model (i.e. kinematic calibration or tactile calibration). In the reference paper cited below, this competence has been used to perform a kinematic calibration of both the right and the left arms.

Roncone A., Hoffmann M., Pattacini U. & Metta G. 2014, ‘Automatic kinematic chain calibration using artificial skin: self-touch in the iCub humanoid robot’, IEEE International Conference on Robotics and Automation (ICRA2014), IEEE pp.2305-2312, , Hong Kong, China, May 31-June 7, 2014.

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