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