Contact Localization for Robot Arms in Motion without Torque Sensing.
Jacky LiangOliver KroemerPublished in: CoRR (2020)
Keyphrases
- humanoid robot
- contact force
- mobile robot
- motion planning
- rao blackwellized particle filter
- end effector
- motion control
- robot motion
- robot localization
- inverse kinematics
- monocular vision
- loop closing
- image sequences
- parallel robot
- simultaneous localization and mapping
- position and orientation
- unstructured environments
- motion estimation
- control signals
- mobile robot localization
- configuration space
- force feedback
- robot navigation
- autonomous navigation
- map building
- path planning
- motion model
- space time
- force control
- robot arm
- camera motion
- optical flow
- robotic tasks
- vision system
- sensor networks
- moving objects
- human robot interaction
- motion analysis
- degrees of freedom
- sagittal plane
- hand eye calibration
- control strategy
- robot control
- multi robot
- real time
- particle filter
- position control
- control system
- precise localization
- joint space
- source localization
- physical constraints
- master slave
- robot manipulators
- position information
- autonomous robots
- control algorithm
- dynamic model
- trajectory planning
- collision free
- visual servoing
- visual landmarks