On Force Control for Robot Manipulators in Contact with Uneven Planar Surfaces.
Antonio RosalesTapio HeikkiläPublished in: MESA (2022)
Keyphrases
- robot manipulators
- planar surfaces
- force control
- d scene
- perspective projection
- image pairs
- inverse kinematics
- end effector
- control scheme
- stereo images
- multiple views
- depth images
- force feedback
- ground plane
- vanishing points
- dynamic model
- geometric constraints
- flow field
- single image
- fuzzy neural network
- shape from shading
- optical flow
- pid controller
- real time
- camera calibration
- image space
- support vector