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Cartesian contact force estimation for robotic manipulators using Kalman filters and the generalized momentum.
Arne Wahrburg
Elena Morara
Gianluca Cesari
Bjoern Matthias
Hao Ding
Published in:
CASE (2015)
Keyphrases
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kalman filter
robotic manipulator
contact force
particle filter
object tracking
control system
mean shift
robotic systems
master slave
force control
control scheme
learning rate
real time
image sequences
high dimensional