Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

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...

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Detalles Bibliográficos
Clasificación:Libro Electrónico
Autores principales: Lefebvre, Tine (Autor), Bruyninckx, Herman (Autor), de Schutter, Joris (Autor)
Autor Corporativo: SpringerLink (Online service)
Formato: Electrónico eBook
Idioma:Inglés
Publicado: Berlin, Heidelberg : Springer Berlin Heidelberg : Imprint: Springer, 2005.
Edición:1st ed. 2005.
Colección:Springer Tracts in Advanced Robotics, 19
Temas:
Control engineering.
Robotics.
Automation.
Artificial intelligence.
System theory.
Control theory.
Control, Robotics, Automation.
Artificial Intelligence.
Systems Theory, Control .
Acceso en línea:Texto Completo

MARC

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245 1 0 |a Nonlinear Kalman Filtering for Force-Controlled Robot Tasks  |h [electronic resource] /  |c by Tine Lefebvre, Herman Bruyninckx, Joris de Schutter. 
250 |a 1st ed. 2005. 
264 1 |a Berlin, Heidelberg :  |b Springer Berlin Heidelberg :  |b Imprint: Springer,  |c 2005. 
300 |a XVI, 266 p.  |b online resource. 
336 |a text  |b txt  |2 rdacontent 
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490 1 |a Springer Tracts in Advanced Robotics,  |x 1610-742X ;  |v 19 
505 0 |a 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. 
520 |a 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. 
650 0 |a Control engineering. 
650 0 |a Robotics. 
650 0 |a Automation. 
650 0 |a Artificial intelligence. 
650 0 |a System theory. 
650 0 |a Control theory. 
650 1 4 |a Control, Robotics, Automation. 
650 2 4 |a Artificial Intelligence. 
650 2 4 |a Systems Theory, Control . 
700 1 |a Bruyninckx, Herman.  |e author.  |4 aut  |4 http://id.loc.gov/vocabulary/relators/aut 
700 1 |a de Schutter, Joris.  |e author.  |4 aut  |4 http://id.loc.gov/vocabulary/relators/aut 
710 2 |a SpringerLink (Online service) 
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950 |a Engineering (SpringerNature-11647) 
950 |a Engineering (R0) (SpringerNature-43712) 

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