Invariant Descriptors of Motion and Force Trajectories for Interpreting Object Manipulation Tasks in Contact.
Maxim VochtenAli Mousavi MohammadiArno VerduynTinne De LaetErwin AertbeliënJoris De SchutterPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- manipulation tasks
- moving objects
- object manipulation
- end effector
- motion planning
- configuration space
- impedance control
- humanoid robot
- degrees of freedom
- invariant descriptors
- inverse kinematics
- robot arm
- mobile robot
- position and orientation
- image sequences
- vision system
- human motion
- robot manipulators
- optical flow
- camera motion
- robot navigation
- contact force
- robotic systems
- background subtraction
- path planning
- space time
- control scheme
- motion capture
- motion model
- collision free
- object tracking
- robotic arm
- d objects
- video surveillance
- affine transformation
- joint angles
- feature points
- viewpoint
- object recognition