Methods and systems for calibrating a sensor of a robotic device

A method comprising:

• simulating a movement of a robotic component of a robotic device to a plurality of positions;
• receiving simulated torque values and simulated force values associated with the plurality of positions, wherein a respective position of the plurality of positions is associated with a respective simulated torque value and a respective simulated force value, wherein the simulated torque values are based on a simulated output of an actuator of the robotic component, wherein the simulated force values are based on a simulated tension of a belt transmission of the robotic component;
• determining, by one or more computing devices, a mapping between the simulated torque values and the simulated force values;
• receiving detected force values by one or more sensors of the robotic component according to actuation of the robotic component to the plurality of positions, wherein the respective position of the plurality of positions is associated with a respective detected force value according to a given sensor of the one or more sensors;
• determining, by the one or more computing devices, expected torque values based on the detected force values and the mapping;
• based on the expected torque values satisfying a threshold associated with the simulated torque values, determining, by the one or more computing devices, a plurality of calibration parameters of the one or more sensors according to the mapping, wherein the plurality of calibration parameters include one or more of a gain and a bias associated with the one or more sensors;
• and
• performing an operation for calibrating the one or more sensors based on the plurality of calibration parameters.

A method comprising:

• actuating a robotic component of a robotic device to a plurality of positions, wherein the robotic component is actuated by an actuator of the robotic device;
• determining data associated with the actuator using one or more sensors of the robotic device, wherein the data is determined based on the robotic component at a respective position of the plurality of positions;
• receiving expected torque values of the actuator associated with the plurality of positions, wherein the respective position of the plurality of positions is associated with a respective expected torque value, wherein the expected torque values are based on one or more external measurements of the robotic component and the actuator;
• fitting, by one or more computing devices, the data to the expected torque values;
• and
• based on fitting the data, determining, by the one or more computing devices, one or more calibration parameters associated with the one or more sensors, wherein the one or more calibration parameters include one or more of a gain and a bias associated with the one or more sensors;
• and
• performing an operation for calibrating the one or more sensors based on the one or more calibration parameters.