000 | 03016nam a22005775i 4500 | ||
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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 |
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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. |
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336 |
_atext _btxt _2rdacontent |
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337 |
_acomputer _bc _2rdamedia |
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338 |
_aonline resource _bcr _2rdacarrier |
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347 |
_atext file _bPDF _2rda |
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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 |