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Nonlinear Kalman Filtering for Force-Controlled Robot Tasks (Springer Tracts in Advanced Robotics, 19, Band 19) - Hardcover

Buch 15 von 153: Springer Tracts in Advanced Robotics

Lefebvre, Tine; Bruyninckx, Herman; De Schutter, Joris

 
9783540280231: Nonlinear Kalman Filtering for Force-Controlled Robot Tasks (Springer Tracts in Advanced Robotics, 19, Band 19)
Hardcover
ISBN 10: 3540280235 ISBN 13: 9783540280231
Verlag: Springer, 2005

Inhaltsangabe

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.

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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.

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Verlag
Springer
Erscheinungsdatum
2005
Sprache
Englisch
ISBN 10 
3540280235
ISBN 13 
9783540280231
Einband
Gebundene Ausgabe
Anzahl der Seiten
282
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