An online interactive method for guided calibration of multi-dimensional force/torque transducers

In this paper, an alternative novel method for calibrating a non-redundant six-axis force/torque sensor is presented. Calibration is conducted online, with the aid of a visual interactive interface, and is based on robust regression, allowing to discard outliers from the data and continuously monitor the sensor's calibration quality online while calibration data are being collected. The method is experimentally applied and validated in the calibration of the custom six-dimensional force/torque load-cells used in the feet of WALK-MAN humanoid.

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