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Estimating contact and grasping uncertainties using Kalman filters in force controlled assembly.
Jayantha Katupitiya
Stefan Dutré
Sabine Demey
Jan De Geeter
Herman Bruyninckx
Joris De Schutter
Published in:
IROS (1996)
Keyphrases
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kalman filter
kalman filtering
contact force
state estimation
particle filter
object tracking
force feedback
vision system
haptic device
mean shift
rao blackwellized particle filter
particle filtering
robust tracking
printed circuit boards
machine learning
closed form
human body
dynamic programming