| Description |
1 online resource (xv, 265 pages) : illustrations |
| Series |
Springer tracts in advanced robotics, 1610-7438 ; v. 19 |
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Springer tracts in advanced robotics ; v. 19. 1610-7438
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| Contents |
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 |
| Summary |
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 |
| Bibliography |
Includes bibliographical references (pages 241-257) and index |
| Notes |
Master and use copy. Digital master created according to Benchmark for Faithful Digital Reproductions of Monographs and Serials, Version 1. Digital Library Federation, December 2002. http://purl.oclc.org/DLF/benchrepro0212 MiAaHDL |
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English |
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Print version record |
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digitized 2010 HathiTrust Digital Library committed to preserve pda MiAaHDL |
| Subject |
Robots -- Dynamics -- Mathematical models
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Robots -- Control systems.
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Kalman filtering.
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Ingénierie.
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Kalman filtering
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Robots -- Control systems
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Robots -- Dynamics -- Mathematical models
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| Form |
Electronic book
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| Author |
Bruyninckx, Herman
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Schutter, J. de (Joris)
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| ISBN |
9783540315049 |
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3540315047 |
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9783540280231 |
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3540280235 |
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