Motion/Force/Image Control of a Diagnostic Ultrasound Robot.
Wen-Hong ZhuSeptimiu E. SalcudeanSimon BachmannPurang AbolmaesumiPublished in: ICRA (2000)
Keyphrases
- sagittal plane
- end effector
- position and orientation
- control signals
- input image
- image data
- image features
- single image
- robot motion
- motion control
- image motion
- mobile robot
- multiscale
- camera movement
- motion estimation
- force control
- image sequences
- inverse kinematics
- robot control
- static images
- humanoid robot
- image segmentation
- motion planning
- normalized correlation
- image retrieval
- high resolution
- feature points
- visual input
- edge detection
- robotic manipulator
- visual feedback
- segmentation method
- robot manipulators
- configuration space
- autonomous navigation
- motion model
- path planning
- motion analysis
- autonomous robots
- camera motion
- robotic systems
- force field
- segmentation algorithm
- vector field
- object motion
- position control
- parallel robot
- control strategy