Toward on-line parameter estimation of concentric tube robots using a mechanics-based kinematic model.
Cheongjae JangJunhyoung HaPierre E. DupontFrank Chongwoo ParkPublished in: IROS (2016)
Keyphrases
- parameter estimation
- kinematic model
- motion control
- mobile robot
- motion planning
- maximum likelihood
- mechanical systems
- least squares
- model selection
- robot control
- markov random field
- physical constraints
- em algorithm
- autonomous robots
- expectation maximization
- random fields
- multi robot
- state estimation
- parameter estimation algorithm
- humanoid robot
- robotic systems
- control system
- autonomous navigation
- parameter estimates
- real robot
- path planning
- kalman filter
- higher order
- feature space
- image segmentation