UKF-Based Sensor Fusion for Joint-Torque Sensorless Humanoid Robots.
Ines SorrentinoGiulio RomualdiDaniele PucciPublished in: CoRR (2024)
Keyphrases
- sensor fusion
- humanoid robot
- joint space
- control algorithm
- motion planning
- unscented kalman filter
- inertial sensors
- mobile robot
- end effector
- multi modal
- multi sensor
- degrees of freedom
- state estimation
- particle filter
- cscw systems
- human robot interaction
- real time
- monitoring system
- path planning
- human motion
- motor control
- motor skills
- control system
- dynamic model
- motion capture
- robot arm
- inverse kinematics
- dynamic environments
- multi view
- image registration
- moving objects