Application for calibrating multiple sensor modalities using inertial measurements. It calibrates: the accelerometers offsets, axis gains and cross-axis sensivities; the joint encoders offsets. Later on, additional sensors will be added to the list, like gyroscopes and FT sensors. We can also integrate in the framework additional identification procedures, like for instance the joint friction parameters estimation.
The paper describing the algorithms implemented for calibrating the accelerometers and the joint encoders can be downloaded on researchgate. If you use this tool in your work, please quote it within any resulting publication:
Guedelha N., Kuppuswamy N., Traversaro S., & Nori F. (2016, November). Self-calibration of joint offsets for humanoid robots using accelerometer measurements. In Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on (pp. 1233-1238). IEEE.
Find below the bibtex code for including this citation:
@inproceedings{guedelha2016self,
title={Self-calibration of joint offsets for humanoid robots using accelerometer measurements},
author={Guedelha, Nuno and Kuppuswamy, Naveen and Traversaro, Silvio and Nori, Francesco},
booktitle={Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on},
pages={1233--1238},
year={2016},
organization={IEEE}
}