Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots

arXiv:2609.02306 · cs.RO · Submitted 2026-09-02 · Read on arXiv

cs.RO

Submitted: 2026-09-02

Updated: 2026-09-18

Terminology

• Calibration — 44× in this paper · explained in 7 episodes
• Consistency — 11× in this paper · explained in 3 episodes
• Regularization — 11× in this paper · explained in 3 episodes
• Decoupling — 7× in this paper · explained in 2 episodes
• Accuracy — 3× in this paper · explained in 1 episode
• Ablation — 1× in this paper · explained in 1 episode
• Alignment — 1× in this paper · explained in 1 episode
• Degeneracy — 1× in this paper · explained in 3 episodes
• External Validation — 1× in this paper · explained in 2 episodes

Sources

• A micro Lie theory for state estimation in robotics

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