| List |
| Topic: | Automatizace prostorové kalibrace umělé kůže na robotovi pomocí 3D rekonstrukce |
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| Department: | Katedra kybernetiky |
| Supervisor: | doc. Mgr. Matěj Hoffmann, Ph.D. |
| Announce as: | Diplomová práce, Bakalářská práce, Semestrální projekt |
| Description: | With the advent of sensitive electronic skins covering large areas of robot bodies, their spatial calibration - position of individual sensors with respect to the robot kinematic model - is gaining importance. In [3,4], CAD-based calibration, self-contact, and 3D reconstruction was compared. 3D reconstruction was found to be most accurate but the procedure rather laborious, involving manual labeling of individual tactile sensors in images. In this work, we focus on making this procedure more automated by exploring different ways of automatically identifying tactile sensors in images.
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| Bibliography: | [1] Albini, A., Denei, S., & Cannata, G. (2017, September). Towards autonomous robotic skin spatial calibration: A framework based on vision and self-touch. In 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (pp. 153-159). IEEE.
[2] Del Prete, A., Denei, S., Natale, L., Mastrogiovanni, F., Nori, F., Cannata, G., & Metta, G. (2011, September). Skin spatial calibration using force/torque measurements. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 3694-3700). IEEE. [3] Potočná, B. (2020), 'Artificial Skin Calibration for a Humanoid Robot: Comparing or Combining “Self-Touch” and 3D Reconstruction from Images', Bachelor’s thesis, Faculty of Electrical Engineering, Czech Technical University in Prague. [4] Rustler, L., Potocna, B., Polic, M., Stepanova, K., & Hoffmann, M. (2021, July). Spatial calibration of whole-body artificial skin on a humanoid robot: comparing self-contact, 3D reconstruction, and CAD-based calibration. In 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids) (pp. 445-452). IEEE. |