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
Tabla de Contenidos:
  • 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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