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Sponsored Artificial Intelligence: A Modern Approach, Global Edition Artificial Intelligence: A Modern Approach, Global Edition

Author

You Li

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2 papers indexed here

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Preprint Sep 2026

OmniCalib: Target-Free, Task-Structured Self-Calibration for Humanoid Robots

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 external fiducials. Using only robot-native motion and onboard sensing, we present OmniCalib, a target-free workflow that calibrates the full...

Kai-Xiang Lu, Hai-Yu Lan, Chun-Xia Qiao et al. · 0 citations
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. · 0 citations

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