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5.3 Calibration of Kikobot C1

Calibrating the KikoBot C1 is crucial to ensure both the leader and follower arms have synchronized position values when they are physically aligned. Proper calibration ensures that the robot operates seamlessly and that any neural network trained on one Kikobot C1 robot can be applied to others with similar performance.

However the auto calibration is recommended, you can follow these detailed steps to calibrate your Kikobot C1, starting with the manual calibration of the follower arm, and then moving on to the leader arm. By doing so, you’ll guarantee both arms are perfectly aligned and can work together as intended.

Step 1: Manual Calibration of Follower Arm​

Before proceeding, ensure both the leader arm and follower arm are physically connected to the KikoBot C1, and everything is set up properly.
We’ll begin with the follower arm calibration. We'll manually calibrate the follower arm for this process. This ensures the positions are adjusted correctly and are matched to the leader arm’s movements.

i. Move the Follower Arm to Key Positions​

For accurate calibration, you will move the follower arm to three important positions in sequence:

  • Zero Position: The starting reference position of the arm.
  • Rotated Position: The arm moved to a rotated position, demonstrating a shift in movement.
  • Rest Position: The final position where the arm is relaxed and ready for operation.
    (Imaged to be Attached for reference)

ii. Run the Calibration Script​

Once the follower arm is physically positioned in the three specified locations, you can calibrate it with the following command:

python lerobot/scripts/control_robot.py calibrate 

 --robot-path lerobot/configs/robot/kikobot.yaml 

  --robot-overrides '~cameras' --arms main_follower

This command will calibrate the follower arm and ensure its position values are synchronized. After the calibration is complete, you’ll have a properly configured follower arm, ready to function alongside the leader arm.

Step 2: Manual Calibration of Leader Arm​

After successfully calibrating the follower arm, it’s now time to calibrate the leader arm. Proper calibration of both arms ensures they move together accurately, which is key to your robot’s overall functionality.

i. Move the Leader Arm to Key Positions​

Just like with the follower arm, the leader arm needs to be moved to three positions for calibration:

  • Zero Position: This is the starting reference point for the leader arm.
  • Rotated Position: The arm should be rotated to a position to indicate the range of movement.
  • Rest Position: The final relaxed position of the leader arm.
    (Imaged to be Attached for reference)

ii. Run the Calibration Script​

After positioning the leader arm in the three necessary locations, run the calibration script to complete the manual calibration for the leader arm:

python lerobot/scripts/control_robot.py calibrate 

 --robot-path lerobot/configs/robot/kikobot.yaml 

--robot-overrides '~cameras' --arms main_leader

This script will calibrate the leader arm, adjusting its position values to ensure that it is aligned with the follower arm. By the end of this process, both arms will be perfectly synchronized and ready for use in your robotic tasks.

Cautions :​

  • Consistency is Key: It’s important to consistently move both arms to the defined positions (zero, rotated, and rest) during calibration. Any deviation could lead to misalignment during the robot’s operation.
  • Re-calibration: If you notice any discrepancies in movement or alignment between the arms in the future, you can always recalibrate by repeating the steps above.

By completing these calibration steps, your KikoBot C1 will be finely tuned and prepared for accurate, synchronized movements of both the leader arm and follower arm. You’ll be ready to dive into more advanced functionalities with confidence, knowing your robot’s arms are working in perfect harmony!