Stiffness Imaging With a Continuum Appendage: Real-Time Shape and Tip Force Estimation From Base Load Readings.
S. M. Hadi SadatiAli ShivaNicolas HerzigD. Caleb RuckerHelmut HauserIan D. WalkerChristos BergelesKaspar AlthoeferD. P. Thrishantha NanayakkaraPublished in: IEEE Robotics Autom. Lett. (2020)
Keyphrases
- real time
- contact force
- shape estimation
- synthetic aperture sonar
- image analysis
- high resolution
- impedance control
- high speed
- load balancing
- imaging systems
- shape model
- shape analysis
- shape descriptors
- image processing
- parametric models
- shape features
- data acquisition
- parameter estimation
- vision system
- low cost
- control system
- medical imaging
- image guided interventions
- shape representation
- position and orientation
- position control
- maximum likelihood criterion