Impedance Control on Arbitrary Surfaces for Ultrasound Scanning Using Discrete Differential Geometry.
Michael DyckArne SachtlerJulian KlodmannAlin Albu-SchäfferPublished in: IEEE Robotics Autom. Lett. (2022)
Keyphrases
- differential geometry
- impedance control
- closed curves
- infinite dimensional
- riemannian manifolds
- structure tensor
- optimal control
- ultrasound images
- finite dimensional
- convex sets
- discrete geometry
- force control
- vision system
- three dimensional
- manipulation tasks
- reinforcement learning
- shape analysis
- shape space
- image processing
- model free
- finite number
- biologically inspired