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Towards Collision Detection, Localization and Force Estimation for a Soft Cable-driven Robot Manipulator.
Yuxin Wang
Hesheng Wang
Fan Xu
Junzhi Yu
Weidong Chen
Yun-Hui Liu
Published in:
ICRA (2021)
Keyphrases
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collision detection
robot manipulators
force control
end effector
virtual environment
control of robot manipulators
computer graphics
control scheme
inverse kinematics
rigid body
bounding box
dynamic model
pid controller
computer vision
training data
image segmentation
degrees of freedom
state space
contact force