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.
Nonlinear Kalman Filtering for Force-Controlled Robot Tasks
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$335.00
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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.
One of the fundamental requirements for the success of a robot task is the capability to handle interaction between manipulator and environment. The quantity that describes the state of interaction...
Kalman filtering algorithm gives optimal (linear, unbiased and minimum error-variance) estimates of the unknown state vectors of a linear dynamic-observation system, under the regular conditions such...
A non-technical introduction to the question of modeling with time-varying parameters, using the beta coefficient from Financial Economics as the main example. After a brief introduction to ...
System state estimation in the presence of noise is critical for control systems, signal processing, and many other applications in a variety of fields. Developed decades ago, the Kalman filter...
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