This paper presents a novel method for smaller-sized humanoid robots to self-calibrate their foot force sensors. The method consists of two steps: 1. The robot is commanded to move along planned whole-body trajectories in different double support configurations. 2. The sensor parameters are determined by minimizing the error between the measured and modeled center of pressure (CoP) and ground reaction force (GRF) during the robot's movement using optimization. This is the first proposed autonomous calibration method for foot force-sensing devices in smaller humanoid robots. Furthermore, we introduce a high-accuracy manual calibration method to establish CoP ground truth, which is used to validate the measured CoP using self-calibration. The results show that the self-calibration can accurately estimate CoP and GRF without any manual intervention. Our method is demonstrated using a NAO humanoid platform and our previously presented force-sensing shoes.

翻译：2. 传感器参数的确定是通过在机器人使用优化运动期间尽量减少测量和模型压力中心(CoP)与地面反应力量(GRF)之间的误差来确定的。这是在小型人类机器人中为脚力感测装置提议的第一种自主校准方法。此外,我们采用了一种高精度手工校准方法来建立CoP地面校准,用于使用自我校准验证测量的COP。结果显示,自我校准可以在不使用任何手动干预的情况下准确估计CoP和GRF。我们的方法是通过一个NAO人类平台和我们以前展示的强制感测鞋来演示的。