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Autor: Tine Lefebvre
ISBN-13: 9783642066290
Einband: Taschenbuch
Seiten: 266
Gewicht: 428 g
Format: 234x156x15 mm
Sprache: Englisch

Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

Vol.19, Springer Tracts in Advanced Robotics
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.
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.
Autor: Tine Lefebvre
ISBN-13:: 9783642066290
ISBN: 3642066291
Verlag: Springer, Berlin
Gewicht: 428g
Seiten: 266
Sprache: Englisch
Sonstiges: Taschenbuch, 234x156x15 mm, 86 SW-Abb.