Use of asymptotic observers in the parameter estimation of robotic manipulators having elastic joints.
Salvatore NicosiaAntonio TornambèPublished in: Adv. Robotics (1990)
Keyphrases
- parameter estimation
- robotic manipulator
- degrees of freedom
- end effector
- maximum likelihood
- control scheme
- markov random field
- model selection
- em algorithm
- least squares
- robotic systems
- parameter estimation algorithm
- visual servoing
- expectation maximization
- approximate inference
- human body
- motion planning
- random fields
- joint angles
- estimation problems
- human motion
- pose estimation
- optimal control
- dynamic model
- multiple models
- similarity measure
- experimental data
- higher order
- high dimensional