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