Estimating First-Order Geometric Parameters and Monitoring Contact Transitions during Force-Controlled Compliant Motion.
Joris De SchutterHerman BruyninckxStefan DutréJan De GeeterJayantha KatupitiyaSabine DemeyTine LefebvrePublished in: Int. J. Robotics Res. (1999)
Keyphrases
- geometric algebra
- estimation process
- monitoring system
- image sequences
- projective geometry
- optical flow
- rigid body
- space time
- motion estimation
- real time
- motion analysis
- sagittal plane
- global motion
- geometric structure
- humanoid robot
- human motion
- motion model
- first order logic
- maximum likelihood
- higher order
- motion field
- motion planning
- parameter space
- parameter estimation
- force feedback
- computer vision