2 papers
cs.RO2026
OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots
Kaixiang Lu, Haiyu Lan, Chunxiao Qiao +6
Assembly, wear, and component replacement perturb the sensor extrinsics and joint zeros encoded by a humanoid CAD model. Existing procedures calibrate one sensor pair or require ex…
cs.RO2026
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots
Kaixiang Lu, Haiyu Lan, Chunxiao Qiao +5
Accurate joint encoder offsets are essential for kinematic consistency in humanoid lower limbs, yet existing calibration methods typically require external motion-capture systems o…