Tine Lefebvre,
Herman Bruyninckx,
Joris de Schutter
Nonlinear Kalman Filtering for Force-Controlled Robot Tasks
Paperback Engels 2010 9783642066290
Verwachte levertijd ongeveer 9 werkdagen
Samenvatting
This monograph focuses on how to achieve more robot autonomy by means of reliable processing skills. "Nonlinear Kalman Filtering for Force-Controlled Robot Tasks " discusses the latest developments in the areas of contact modeling, nonlinear parameter estimation and task plan optimization for improved estimation accuracy. Kalman filtering techniques are applied to identify the contact state based on force sensing between a grasped object and the environment. The potential of this work is to be found not only for industrial robot operation in space, sub-sea or nuclear scenarios, but also for service robots operating in unstructured environments co-habited by humans where autonomous compliant tasks require active sensing.
Specificaties
ISBN13:9783642066290
Taal:Engels
Bindwijze:paperback
Aantal pagina's:266
Uitgever:Springer Berlin Heidelberg
Druk:0
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Inhoudsopgave
Introduction.- Literature Survey: Autonomous Compliant Motion.- Literature Survey: Bayesian Probability Theory.- Kalman Filters for Nonlinear Systems.- The Non-Minimal State Kalman Filter.- Contact Modelling.- Geometrical Parameter Estimation and CF Recognition.- Experiment: A Cube-In-Corner Assembly.- Task Planning with Active Sensing.- General Conclusions.
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