Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation.
Mehdi BenallegueAlexis MifsudFlorent LamirauxPublished in: Humanoids (2015)
Keyphrases
- dynamic model
- contact force
- inertial sensors
- sensor fusion
- multi sensor
- data fusion
- end effector
- degrees of freedom
- joint angles
- position control
- sensor measurements
- parallel manipulator
- control scheme
- robot manipulators
- sensor data
- force feedback
- force sensing
- noisy measurements
- information fusion
- motion capture
- force control
- inertial measurement unit
- sensor networks
- signal strength
- infrared
- master slave
- experimental data
- real time
- fusion method
- dynamical systems
- finite element analysis
- robotic manipulator
- external forces
- time of flight
- image fusion
- human body
- mobile robot
- finite element model
- position and orientation
- motion planning
- kinematic model
- humanoid robot
- control algorithm