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Research questionHow can humanoid lower-limb joint offsets be calibrated without external tracking when pitch-chain errors are weakly observable?Encoder-offset errors can make lower-limb kinematics inconsistent and distort foot-height estimates and leg odometry. Pitch-linked errors are especially difficult to separate because available orientation information observes only their combined effect.
Robotics
Latest papersRecent research connected to this question, newest first.Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid RobotsThe evidence concerns humanoid lower limbs calibrated using joint encoders and a pelvis-mounted IMU during static double-support stances. Simulation, real-machine injection tests, held-out recordings, and LiDAR-inertial checks support recovery for well-excited directions, while individual offsets in the weak pitch chain remain prior-dependent.research paper · Sep 2, 2026
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How can legged odometry remain accurate when foot contact does not guarantee reliable kinematics?How can human motion be retargeted across different humanoid morphologies without hand-crafted mappings or losing pose detail?How can legged robots maintain accurate proprioceptive body-state estimates when cameras and LiDAR become unreliable?How can humanoid tracking policies learn pose transitions from unordered data without ordered motion clips?
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