Nonlinear Kalman Filtering for Force-Controlled Robot Tasks | Zendy

Tine Lefebvre | Zendy; Herman Bruyninckx | Zendy; Joris De Schutter | Zendy

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Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

Author(s) -

Tine Lefebvre,

Herman Bruyninckx,

Joris De Schutter

Publication year - 2005

Publication title -

springer tracts in advanced robotics

Language(s) - English

Resource type - Book series

SCImago Journal Rank - 0.485

H-Index - 49

eISSN - 1610-742X

pISSN - 1610-7438

DOI - 10.1007/11533054

Subject(s) - kalman filter , nonlinear system , robot , computer science , extended kalman filter , control theory (sociology) , control engineering , artificial intelligence , engineering , physics , control (management) , quantum mechanics

.- 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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