Model-Based External Force/Moment Estimation for Humanoid Robots with no Torque Measurement.
Mehdi BenalleguePierre GergondetHerve AudrerrAlexis MifsudMitsuharu MorisawaFlorent LamirauxAbderrahmane KheddarFumio KanehiroPublished in: ICRA (2018)
Keyphrases
- humanoid robot
- external force
- external forces
- active contours
- motion planning
- vector field
- active contour model
- joint space
- gradient vector flow
- multi modal
- deformable models
- human robot interaction
- force field
- control scheme
- electric field
- image sequences
- walking speed
- motor skills
- image restoration
- graph cuts
- medical images