Preprint
Sep 2026
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots
Accurate joint encoder offsets are essential for kinematic consistency in humanoid lower limbs, yet existing calibration methods typically require external motion-capture systems or fiducial targets. We present a self-contained calibration framework exploiting only onboard joint encoders and a pelvis-mounted IMU during...
Kai-Xiang Lu, Hai-Yu Lan, Chun-Xia Qiao et al.
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