Torque estimation of robot joint with harmonic drive transmission using a redundant adaptive robust extended Kalman filter.
Zhiguo ShiGuangjun LiuPublished in: ICRA (2014)
Keyphrases
- extended kalman filter
- simultaneous localization and mapping
- kalman filter
- kalman filtering
- mobile robot
- state estimation
- image stabilization
- estimation accuracy
- dead reckoning
- estimation process
- particle filter
- computer simulation
- estimation error
- robust estimation
- neural network
- path planning
- vision system
- computer vision
- training algorithm
- robot navigation
- control scheme
- multilayer perceptron
- closed loop
- mobile robotics
- mean shift
- computationally efficient