Enhanced real-time pose estimation for closed-loop robotic manipulation of magnetically actuated capsule endoscopes.
Addisu Z. TaddesePiotr R. SlawinskiMarco PirottaElena De MomiKeith L. ObsteinPietro ValdastriPublished in: Int. J. Robotics Res. (2018)
Keyphrases
- pose estimation
- closed loop
- open loop
- control loop
- real time
- control scheme
- control system
- control law
- camera pose estimation
- tracking and pose estimation
- force control
- feedback control
- d objects
- degrees of freedom
- head pose estimation
- computer vision
- human body
- robotic manipulator
- pid controller
- parameter identification
- position and orientation
- position control
- body parts
- human pose estimation
- control strategy
- nonlinear systems
- human pose
- feature points
- depth images
- robot manipulators
- pose estimates
- limit cycle
- inverted pendulum
- visual servoing
- control method
- dynamic model
- adaptive control
- vision system
- control algorithm
- mobile robot