{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,25]],"date-time":"2026-06-25T06:00:53Z","timestamp":1782367253220,"version":"3.54.5"},"reference-count":52,"publisher":"Cambridge University Press (CUP)","issue":"5","license":[{"start":{"date-parts":[[2023,2,16]],"date-time":"2023-02-16T00:00:00Z","timestamp":1676505600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2023,5]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Robots and inertial measurement units (IMUs) are typically calibrated independently. IMUs are placed in purpose-built, expensive automated test rigs. Robot poses are typically measured using highly accurate (and thus expensive) tracking systems. In this paper, we present a quick, easy, and inexpensive new approach to calibrate both simultaneously, simply by attaching the IMU anywhere on the robot\u2019s end-effector and moving the robot continuously through space. Our approach provides a fast and inexpensive alternative to both robot and IMU calibration, without any external measurement systems. We accomplish this using continuous-time batch estimation, providing statistically optimal solutions. Under Gaussian assumptions, we show that this becomes a nonlinear least-squares problem and analyze the structure of the associated Jacobian. Our methods are validated both numerically and experimentally and compared to standard individual robot and IMU calibration methods.<\/jats:p>","DOI":"10.1017\/s0263574723000012","type":"journal-article","created":{"date-parts":[[2023,2,16]],"date-time":"2023-02-16T02:52:10Z","timestamp":1676515930000},"page":"1590-1616","source":"Crossref","is-referenced-by-count":4,"title":["Unified robot and inertial sensor self-calibration"],"prefix":"10.1017","volume":"41","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8436-2804","authenticated-orcid":false,"given":"James M.","family":"Ferguson","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Tayfun Efe","family":"Ertop","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"suffix":"III","given":"S. Duke","family":"Herrell","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"suffix":"III","given":"Robert J.","family":"Webster","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2023,2,16]]},"reference":[{"key":"S0263574723000012_ref27","doi-asserted-by":"crossref","first-page":"7092","DOI":"10.1109\/TIM.2020.2976277","article-title":"Online robot kinematic calibration using hybrid filter with multiple sensors","volume":"69","author":"Du","year":"2020","journal-title":"IEEE Trans. Instrum. Meas."},{"key":"S0263574723000012_ref33","doi-asserted-by":"crossref","first-page":"1153","DOI":"10.1109\/TRO.2019.2959161","article-title":"An online initialization and self-calibration method for stereo visual-inertial odometry","volume":"36","author":"Huang","year":"2020","journal-title":"IEEE Trans. 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