Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Self-Contained Kinematic Calibration of a Novel Whole-Body Artificial
  Skin for Human-Robot Collaboration   In this paper, we present an accelerometer-based kinematic calibration
algorithm to accurately estimate the pose of multiple sensor units distributed
along a robot body. Our approach is self-contained, can be used on any robot
provided with a Denavit-Hartenberg kinematic model, and on any skin equipped
with Inertial Measurement Units (IMUs). To validate the proposed method, we
first conduct extensive experimentation in simulation and demonstrate a sub-cm
positional error from ground truth data --an improvement of six times with
respect to prior work; subsequently, we then perform a real-world evaluation on
a seven degrees-of-freedom collaborative platform. For this purpose, we
additionally introduce a novel design for a stand-alone artificial skin
equipped with an IMU for use with the proposed algorithm and a proximity sensor
for sensing distance to nearby objects. In conclusion, in this work, we
demonstrate seamless integration between a novel hardware design, an accurate
calibration method, and preliminary work on applications: the high positional
accuracy effectively enables to locate distributed proximity data and allows
for a distributed avoidance controller to safely avoid obstacles and people
without the need of additional sensing.

7
The categories of this paper are: hep-th
9
The categories of this paper are: nlin
26
The categories of this paper are: bayes-an
28
The categories of this paper are: alg-geom
33
The categories of this paper are: plasm-ph
15
The categories of this paper are: nucl-ex
5
The categories of this paper are: gr-qc
25
The categories of this paper are: patt-sol
32
The categories of this paper are: atom-ph
31
The categories of this paper are: ao-sci
22
The categories of this paper are: chao-dyn
37
The categories of this paper are: supr-con
16
The categories of this paper are: stat
11
The categories of this paper are: hep-lat
20
The categories of this paper are: acc-phys
36
The categories of this paper are: cmp-lg