Contact Localization for Robot Arms in Motion without Torque Sensing.
Jacky LiangOliver KroemerPublished in: ICRA (2021)
Keyphrases
- humanoid robot
- contact force
- mobile robot
- rao blackwellized particle filter
- motion control
- motion planning
- loop closing
- parallel robot
- inverse kinematics
- control signals
- robot motion
- end effector
- autonomous navigation
- mobile robot localization
- position and orientation
- monocular vision
- map building
- sagittal plane
- image sequences
- monte carlo localization
- force feedback
- robot localization
- source localization
- joint space
- simultaneous localization and mapping
- motion estimation
- space time
- motion analysis
- unstructured environments
- motion model
- autonomous robots
- optical flow
- degrees of freedom
- robotic tasks
- camera motion
- precise localization
- visual landmarks
- real time
- robot navigation
- human motion
- robot manipulators
- force control
- human robot interaction
- hand eye calibration
- vision system
- moving objects
- robot moves
- finite element analysis
- position information
- path planning
- control algorithm
- position control
- control strategy
- robotic arm
- kalman filter
- dynamic model
- multi robot