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We introduce an intuitive way of controlling a manipulator. This control should fulfill several constraints like low room consuming and operable in a short time. With this constraints in mind we chose an inertial sensor based motion capturing system. Such systems have to be adapted to the user. We present a method to adapt the system by a fast calibration while it is been used. The calibration does not require specified given motions. The soundness of the system is shown in synthetic and real experiments.

AUTOMATIC CALIBRATION OF A MOTION CAPTURE SYSTEM BASED ON INERTIAL SENSORS FOR TELE-MANIPULATION