000 03016nam a22005775i 4500
001 978-3-540-31504-9
003 DE-He213
005 20161121231020.0
007 cr nn 008mamaa
008 100806s2005 gw | s |||| 0|eng d
020 _a9783540315049
_9978-3-540-31504-9
024 7 _a10.1007/11533054
_2doi
050 4 _aTJ210.2-211.495
050 4 _aT59.5
072 7 _aTJFM1
_2bicssc
072 7 _aTEC037000
_2bisacsh
072 7 _aTEC004000
_2bisacsh
082 0 4 _a629.892
_223
100 1 _aLefebvre, Tine.
_eauthor.
245 1 0 _aNonlinear Kalman Filtering for Force-Controlled Robot Tasks
_h[electronic resource] /
_cby Tine Lefebvre, Herman Bruyninckx, Joris De Schutter.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2005.
300 _aXVI, 266 p.
_bonline resource.
336 _atext
_btxt
_2rdacontent
337 _acomputer
_bc
_2rdamedia
338 _aonline resource
_bcr
_2rdacarrier
347 _atext file
_bPDF
_2rda
490 1 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v19
505 0 _aIntroduction -- 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.
520 _aThis 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.
650 0 _aEngineering.
650 0 _aArtificial intelligence.
650 0 _aSystem theory.
650 0 _aControl engineering.
650 0 _aRobotics.
650 0 _aMechatronics.
650 0 _aAutomation.
650 1 4 _aEngineering.
650 2 4 _aRobotics and Automation.
650 2 4 _aControl, Robotics, Mechatronics.
650 2 4 _aArtificial Intelligence (incl. Robotics).
650 2 4 _aSystems Theory, Control.
700 1 _aBruyninckx, Herman.
_eauthor.
700 1 _aSchutter, Joris De.
_eauthor.
710 2 _aSpringerLink (Online service)
773 0 _tSpringer eBooks
776 0 8 _iPrinted edition:
_z9783540280231
830 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v19
856 4 0 _uhttp://dx.doi.org/10.1007/11533054
912 _aZDB-2-ENG
950 _aEngineering (Springer-11647)
999 _c507324
_d507324