In Situ Calibration of Six-Axes Force Torque Sensors using Accelerometer Measurements

TL;DR

This paper introduces an in situ calibration method for six-axis force-torque sensors using accelerometer data, eliminating the need for sensor removal or prior inertial knowledge, validated on the iCub robot.

Contribution

The paper presents a novel calibration technique that leverages accelerometer measurements to calibrate force-torque sensors without removing them or knowing inertial parameters.

Findings

Effective calibration achieved on iCub robot sensors

Method does not require sensor removal or inertial parameters

Validation confirms accuracy and practicality

Abstract

This paper proposes techniques to calibrate six-axis force-torque sensors that can be performed in situ, i.e., without removing the sensor from the hosting system. We assume that the force-torque sensor is attached to a rigid body equipped with an accelerometer. Then, the proposed calibration technique uses the measurements of the accelerometer, but requires neither the knowledge of the inertial parameters nor the orientation of the rigid body. The proposed method exploits the geometry induced by the model between the raw measurements of the sensor and the corresponding force-torque. The validation of the approach is performed by calibrating two six-axis force-torque sensors of the iCub humanoid robot.