Abstract: A robonaut kinematic calibration method based on MCPC (modified complete and parametrically continuous) model is proposed. On the basis of the analysis on the robonaut joint and link flexibility, a composite error model considering both geometric error and flexibility error is established using the MCPC method. And then, a robonaut kinematic parameter calibration method is proposed. Experimental results show that the proposed calibration method can eliminate the influence of flexible factors on kinematic parameter calibration and obtain accurate kinematic parameters, and can effectively improve the operation precision of robonaut.