Nonlinear Kalman Filtering for Force-Controlled Robot Tasks
By: Lefebvre, Tine [author.].
Contributor(s): Bruyninckx, Herman [author.] | Schutter, Joris De [author.] | SpringerLink (Online service).
Material type:
BookSeries: Springer Tracts in Advanced Robotics: 19Publisher: Berlin, Heidelberg : Springer Berlin Heidelberg, 2005.Description: XVI, 266 p. online resource.Content type: text Media type: computer Carrier type: online resourceISBN: 9783540315049.Subject(s): Engineering | Artificial intelligence | System theory | Control engineering | Robotics | Mechatronics | Automation | Engineering | Robotics and Automation | Control, Robotics, Mechatronics | Artificial Intelligence (incl. Robotics) | Systems Theory, ControlDDC classification: 629.892 Online resources: Click here to access online | Item type | Current location | Call number | Status | Date due | Barcode | Item holds |
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E books
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PK Kelkar Library, IIT Kanpur | Available | EBK7611 |
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.
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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