{"id":"https://openalex.org/W7138175267","doi":"https://doi.org/10.48550/arxiv.2603.14809","title":"A Unified Calibration Framework for Coordinate and Kinematic Parameters in Dual-Arm Robots","display_name":"A Unified Calibration Framework for Coordinate and Kinematic Parameters in Dual-Arm Robots","publication_year":2026,"publication_date":"2026-03-16","ids":{"openalex":"https://openalex.org/W7138175267","doi":"https://doi.org/10.48550/arxiv.2603.14809"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.14809","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14809","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.14809","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5129745432","display_name":"Tianyu Huang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Huang, Tianyu","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129648050","display_name":"Bohan Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Bohan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129690513","display_name":"Bin Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Bin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5127782116","display_name":"Wenpan LI","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Wenpan","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129673261","display_name":"Haoang Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Haoang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129745833","display_name":"Wenlong Li","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Wenlong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5129684146","display_name":"Yun-Hui Liu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Liu, Yun-Hui","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.6851000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.6851000189781189,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.12700000405311584,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.07840000092983246,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/initialization","display_name":"Initialization","score":0.6926000118255615},{"id":"https://openalex.org/keywords/jacobian-matrix-and-determinant","display_name":"Jacobian matrix and determinant","score":0.616599977016449},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5835000276565552},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.49129998683929443},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45669999718666077},{"id":"https://openalex.org/keywords/identifiability","display_name":"Identifiability","score":0.4429999887943268},{"id":"https://openalex.org/keywords/outlier","display_name":"Outlier","score":0.43470001220703125},{"id":"https://openalex.org/keywords/coordinate-descent","display_name":"Coordinate descent","score":0.40220001339912415},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.37380000948905945},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.3504999876022339}],"concepts":[{"id":"https://openalex.org/C114466953","wikidata":"https://www.wikidata.org/wiki/Q6034165","display_name":"Initialization","level":2,"score":0.6926000118255615},{"id":"https://openalex.org/C200331156","wikidata":"https://www.wikidata.org/wiki/Q506041","display_name":"Jacobian matrix and determinant","level":2,"score":0.616599977016449},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5835000276565552},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5759999752044678},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.49129998683929443},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45669999718666077},{"id":"https://openalex.org/C122770356","wikidata":"https://www.wikidata.org/wiki/Q1656753","display_name":"Identifiability","level":2,"score":0.4429999887943268},{"id":"https://openalex.org/C79337645","wikidata":"https://www.wikidata.org/wiki/Q779824","display_name":"Outlier","level":2,"score":0.43470001220703125},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.4032999873161316},{"id":"https://openalex.org/C157553263","wikidata":"https://www.wikidata.org/wiki/Q5168004","display_name":"Coordinate descent","level":2,"score":0.40220001339912415},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.37380000948905945},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.3504999876022339},{"id":"https://openalex.org/C164226766","wikidata":"https://www.wikidata.org/wiki/Q7293202","display_name":"Rank (graph theory)","level":2,"score":0.3499999940395355},{"id":"https://openalex.org/C80551277","wikidata":"https://www.wikidata.org/wiki/Q11210","display_name":"Coordinate system","level":2,"score":0.3382999897003174},{"id":"https://openalex.org/C177264268","wikidata":"https://www.wikidata.org/wiki/Q1514741","display_name":"Set (abstract data type)","level":2,"score":0.3343000113964081},{"id":"https://openalex.org/C28719098","wikidata":"https://www.wikidata.org/wiki/Q44946","display_name":"Point (geometry)","level":2,"score":0.3287000060081482},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.3215000033378601},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3174000084400177},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.31709998846054077},{"id":"https://openalex.org/C126255220","wikidata":"https://www.wikidata.org/wiki/Q141495","display_name":"Mathematical optimization","level":1,"score":0.3149999976158142},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3118000030517578},{"id":"https://openalex.org/C153258448","wikidata":"https://www.wikidata.org/wiki/Q1199743","display_name":"Gradient descent","level":3,"score":0.3046000003814697},{"id":"https://openalex.org/C198927703","wikidata":"https://www.wikidata.org/wiki/Q4373881","display_name":"Sequential quadratic programming","level":3,"score":0.2989000082015991},{"id":"https://openalex.org/C159694833","wikidata":"https://www.wikidata.org/wiki/Q2321565","display_name":"Iterative method","level":2,"score":0.295199990272522},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.28999999165534973},{"id":"https://openalex.org/C529865628","wikidata":"https://www.wikidata.org/wiki/Q1790740","display_name":"Manifold (fluid mechanics)","level":2,"score":0.28110000491142273},{"id":"https://openalex.org/C192299074","wikidata":"https://www.wikidata.org/wiki/Q2160034","display_name":"Robot calibration","level":5,"score":0.27619999647140503},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.275299996137619},{"id":"https://openalex.org/C179024874","wikidata":"https://www.wikidata.org/wiki/Q5395728","display_name":"Errors-in-variables models","level":2,"score":0.274399995803833},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.273499995470047},{"id":"https://openalex.org/C62837456","wikidata":"https://www.wikidata.org/wiki/Q678308","display_name":"Kinematic chain","level":3,"score":0.26829999685287476},{"id":"https://openalex.org/C81184566","wikidata":"https://www.wikidata.org/wiki/Q1191895","display_name":"Conjugate gradient method","level":2,"score":0.2529999911785126}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.14809","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14809","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.14809","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.14809","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Precise":[0],"collaboration":[1],"in":[2,43,65,95,107],"vision-based":[3],"dual-arm":[4],"robot":[5,67],"systems":[6],"requires":[7],"accurate":[8],"system":[9],"calibration.":[10],"Recent":[11],"dual-robot":[12],"calibration":[13,57,150],"methods":[14,27],"have":[15],"achieved":[16],"strong":[17],"performance":[18],"by":[19],"simultaneously":[20],"solving":[21],"multiple":[22],"coordinate":[23,60,103],"transformations.":[24],"However,":[25],"these":[26,171],"either":[28],"treat":[29],"kinematic":[30,63,105],"errors":[31],"as":[32,244],"implicit":[33],"noise":[34],"or":[35],"handle":[36],"them":[37],"through":[38],"separated":[39],"error":[40,92,115,122],"modeling,":[41],"resulting":[42],"non-negligible":[44],"accumulated":[45],"errors.":[46],"In":[47,124],"this":[48,86,133],"paper,":[49],"we":[50,88,126,144,186],"present":[51],"a":[52,81,90,128,188,205,214,245],"novel":[53],"framework":[54],"for":[55,192,248],"unified":[56],"of":[58,148,182,222],"the":[59,76,96,102,121,140,146,174,194,219],"transformations":[61],"and":[62,104,117,152],"parameters":[64,79,106,151,172],"both":[66],"arms.":[68],"Our":[69,110],"key":[70],"idea":[71],"is":[72,158],"to":[73,168,178],"unify":[74],"all":[75,149],"tightly":[77],"coupled":[78],"within":[80],"single":[82],"Lie-algebraic":[83],"formulation.":[84],"To":[85],"end,":[87],"construct":[89],"consolidated":[91],"model":[93,111,134],"grounded":[94],"product-of-exponentials":[97],"formula,":[98],"which":[99],"naturally":[100],"integrates":[101],"twist":[108],"forms.":[109],"introduces":[112],"no":[113],"artificial":[114],"separation":[116],"thus":[118],"greatly":[119],"mitigates":[120],"propagation.":[123],"addition,":[125],"derive":[127],"closed-form":[129],"analytical":[130],"Jacobian":[131,141],"from":[132],"using":[135],"Lie":[136],"derivatives.":[137],"By":[138],"exploring":[139],"rank":[142],"property,":[143],"analyze":[145],"identifiability":[147],"show":[153],"that":[154],"our":[155,183,201,223,233],"joint":[156,184,249],"optimization":[157],"well-posed":[159],"under":[160,228],"mild":[161],"conditions.":[162],"This":[163],"enables":[164],"off-the-shelf":[165],"iterative":[166],"solvers":[167],"stably":[169],"optimize":[170],"on":[173,198],"manifold":[175],"space.":[176],"Besides,":[177],"ensure":[179],"robust":[180],"convergence":[181],"optimization,":[185],"develop":[187],"certifiably":[189],"correct":[190],"algorithm":[191,202],"initializing":[193],"unknown":[195],"coordinates.":[196],"Relying":[197],"semidefinite":[199],"relaxation,":[200],"can":[203,211],"yield":[204],"reliable":[206],"estimate":[207],"whose":[208],"near-global":[209],"optimality":[210],"be":[212],"verified":[213],"posteriori.":[215],"Extensive":[216],"experiments":[217],"validate":[218],"superior":[220],"accuracy":[221],"approach":[224],"over":[225],"previous":[226],"baselines":[227],"identical":[229],"visual":[230],"measurements.":[231],"Meanwhile,":[232],"certifiable":[234],"initialization":[235],"consistently":[236],"outperforms":[237],"several":[238],"coordinate-only":[239],"baselines,":[240],"proving":[241],"its":[242],"reliability":[243],"starting":[246],"point":[247],"optimization.":[250]},"counts_by_year":[],"updated_date":"2026-07-01T06:00:48.157686","created_date":"2026-03-18T00:00:00"}
