Overview
- Demonstrates how to improve robot autonomy by means of reliable processing skills
- Latest developments in the areas of contact modeling, nonlinear parameter estimation and task plan optimization
Part of the book series: Springer Tracts in Advanced Robotics (STAR, volume 19)
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About this book
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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Table of contents (17 chapters)
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Front Matter
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Back Matter
Reviews
From the reviews:
"The present book provides the latest developments in the area of contact modeling, nonlinear parameter estimation and parameter estimation and parameter estimation improvement accuracy of robots. … The book includes an up-to-date bibliography and a lot of numerical examples. The Appendices provide various theoretical complements which are of high interest for researchers working in robotics. The graphics is excellent and the final list of symbols and abbreviations are very useful. The book is an excellent contribution in the area of robotics … ." (Dumitru Stanomir, Zentralblatt MATH, Vol. 1120 (22), 2007)
Bibliographic Information
Book Title: Nonlinear Kalman Filtering for Force-Controlled Robot Tasks
Authors: Tine Lefebvre, Herman Bruyninckx, Joris Schutter
Series Title: Springer Tracts in Advanced Robotics
DOI: https://doi.org/10.1007/11533054
Publisher: Springer Berlin, Heidelberg
eBook Packages: Engineering, Engineering (R0)
Copyright Information: Springer-Verlag Berlin Heidelberg 2005
Hardcover ISBN: 978-3-540-28023-1Published: 20 September 2005
Softcover ISBN: 978-3-642-06629-0Published: 12 February 2010
eBook ISBN: 978-3-540-31504-9Published: 12 December 2005
Series ISSN: 1610-7438
Series E-ISSN: 1610-742X
Edition Number: 1
Number of Pages: XVI, 266
Topics: Robotics and Automation, Control, Robotics, Mechatronics, Artificial Intelligence, Systems Theory, Control