Assembly motion teaching system using position/force simulator extracting a sequence of contact state transition.
Hiromu OndaHirohisa HirukawaKunikatsu TakasePublished in: IROS (1) (1995)
Keyphrases
- state transition
- end effector
- state transitions
- state transition model
- force feedback
- input output
- hidden markov models
- state space
- degrees of freedom
- black box
- markov chain
- initial position
- position information
- position and orientation
- sagittal plane
- human arm
- robotic tasks
- probability distribution
- inverse kinematics
- image sequences
- joint angles
- optical flow
- contact force
- robot manipulators
- relative position
- motion estimation
- finite state machines
- robot arm
- camera motion
- robot moves
- object oriented
- visual servoing
- position control
- human motion
- moving objects
- learning environment
- motion planning
- dynamic programming
- internal state