Prescribed contact establishment of a robot with a planar surface under position and stiffness uncertainties.
George S. KanakisFotios DimeasGeorge A. RovithakisZoe DoulgeriPublished in: Robotics Auton. Syst. (2018)
Keyphrases
- planar surfaces
- position control
- position and orientation
- contact force
- end effector
- d scene
- perspective projection
- stereo images
- force feedback
- depth images
- image pairs
- multiple views
- geometric constraints
- control scheme
- ground plane
- flow field
- vision system
- stereo pair
- ego motion
- vanishing points
- single view
- viewpoint
- pose estimation