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Bootstrapping a robot's kinematic model

Broun, Alan; Beck, Chris; Pipe, Tony; Mirmehdi, Majid; Melhuish, Chris


Alan Broun

Chris Beck

Majid Mirmehdi

Chris Melhuish
Professor of Robotics & Autonomous Systems


We present a system that is able to autonomously build a 3D model of a robot's hand, along with a kinematic model of the robot's arm, beginning with very little information. The system starts by using exploratory motions to locate and centre the robot's hand in the middle of its field of view, and then progressively builds the 3D and kinematic models. The system is flexible, and easy to integrate with different robots, because the model building process does not require any fiducial markers to be attached to the robot's hand. To validate the models built by the system we perform a number of experiments. The results of the experiments demonstrate that the hand model built by the system can be tracked with a precision in the order of 1 mm, and that the kinematic model is accurate enough to reliably position the hand of the robot in camera space.© 2013 Elsevier B.V. All rights reserved.


Broun, A., Beck, C., Pipe, T., Mirmehdi, M., & Melhuish, C. (2014). Bootstrapping a robot's kinematic model. Robotics and Autonomous Systems, 62(3), 330-339.

Journal Article Type Conference Paper
Acceptance Date Oct 23, 2013
Online Publication Date Oct 23, 2013
Publication Date Mar 1, 2014
Deposit Date Oct 26, 2018
Journal Robotics and Autonomous Systems
Print ISSN 0921-8890
Publisher Elsevier
Peer Reviewed Peer Reviewed
Volume 62
Issue 3
Pages 330-339
Keywords kinematic identification, model building, body schema
Public URL
Publisher URL