Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

• Main Authors: Lefebvre, Tine (Author), Bruyninckx, Herman (Author), Schutter, Joris De (Author)
• Corporate Author: SpringerLink (Online service)
• Format: Electronic eBook
• Language: English
• Published: Berlin, Heidelberg : Springer Berlin Heidelberg, 2005.
• Series: Springer Tracts in Advanced Robotics, 19
• Subjects: Engineering.; Artificial intelligence.; System theory.; Control engineering.; Robotics.; Mechatronics.; Automation.; Robotics and Automation.; Control, Robotics, Mechatronics.; Artificial Intelligence (incl. Robotics).; Systems Theory, Control.

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...

Table of Contents:

• 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.