Automatic Calibration of a Motion Capture System based on Inertial Sensors for Tele-Manipulation

Jörg Hoffmann, Bernd Brüggemann, and Björn Krüger
In proceedings of 7th International Conference on Informatics in Control, Automation and Robotics (ICINCO), Funchal - Madeira, Portugal, June 2010
 

Abstract

We introduce an intuitive way of controlling a manipulator. This control should fulfill several constraints like low room consuming and operable in a short time. With this constraints in mind we chose an inertial sensor based motion capturing system. Such systems have to be adapted to the user. We present a method to adapt the system by a fast calibration while it is been used. The calibration does not require specified given motions. The soundness of the system is shown in synthetic and real experiments.

Keywords: Automatic Calibration, Inertial Sensors, Motion Capturing, Telerobotics and Teleoperation

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Bibtex

@INPROCEEDINGS{hoffmann-2010-roboarm,
     author = {Hoffmann, J{\"o}rg and Br{\"u}ggemann, Bernd and Kr{\"u}ger, Bj{\"o}rn},
      title = {Automatic Calibration of a Motion Capture System based on Inertial Sensors for Tele-Manipulation},
    journal = {7th International Conference on Informatics in Control, Automation and Robotics (ICINCO)},
  booktitle = {7th International Conference on Informatics in Control, Automation and Robotics (ICINCO)},
       year = {2010},
      month = jun,
   location = {Funchal - Madeira, Portugal},
   keywords = {Automatic Calibration, Inertial Sensors, Motion Capturing, Telerobotics and Teleoperation},
   abstract = {We introduce an intuitive way of controlling a manipulator. This control should fulfill several
               constraints like low room consuming and operable in a short time. With this constraints in mind we
               chose an inertial sensor based motion capturing system. Such systems have to be adapted to the user.
               We present a method to adapt the system by a fast calibration while it is been used. The calibration
               does not require specified given motions. The soundness of the system is shown in synthetic and real
               experiments.}
}