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Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

Paperback

Series: Springer Tracts in Advanced Robotics, Book 19

Technology & EngineeringGeneral ComputersGeneral Mathematics

ISBN10: 3642066291
ISBN13: 9783642066290
Publisher: Springer
Published: Feb 12 2010
Pages: 266
Weight: 0.88
Height: 0.60 Width: 6.14 Depth: 9.21
Language: English
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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