Dynamically decoupling base and end-effector motion for mobile manipulation using visual-inertial sensing.
Timothy SandyJonas BuchliPublished in: IROS (2017)
Keyphrases
- end effector
- degrees of freedom
- inverse kinematics
- vision system
- robot arm
- robot manipulators
- visual servoing
- joint angles
- motion planning
- human arm
- inertial sensors
- visual information
- control law
- hand eye calibration
- input output
- position and orientation
- joint space
- dynamic model
- robotic arm
- low level
- visual feedback
- control scheme
- path planning
- closed loop
- space time
- visual features
- viewpoint
- real time
- image space
- pose estimation
- three dimensional