Adaptive Force Controller for Contact-Rich Robotic Systems using an Unscented Kalman Filter.
Alexander SchperbergYuki ShiraiXuan LinYusuke TanakaDennis W. HongPublished in: Humanoids (2023)
Keyphrases
- robotic systems
- robotic manipulator
- impedance control
- control architecture
- unscented kalman filter
- contact force
- mobile robot
- position control
- vision system
- control scheme
- autonomous robots
- force control
- kalman filter
- extended kalman filter
- position and orientation
- dynamic model
- manipulation tasks
- force feedback
- state estimation
- visual tracking
- neural network
- control system
- real time
- simultaneous localization and mapping
- visual servoing
- real robot
- stereo camera
- indoor environments
- closed loop