Progressive automation of periodic tasks on planar surfaces of unknown pose with hybrid force/position control.
Fotios DimeasZoe DoulgeriPublished in: IROS (2020)
Keyphrases
- position control
- planar surfaces
- control scheme
- robotic manipulator
- force control
- closed loop
- control system
- robot arm
- control strategies
- pose estimation
- robotic systems
- feedback loop
- degrees of freedom
- end effector
- perspective projection
- dc motor
- d scene
- pid controller
- stereo images
- image pairs
- robot manipulators
- multiple views
- control strategy
- geometric constraints
- control law
- depth images
- dynamic model
- viewpoint
- d objects
- joint angles
- vanishing points
- super resolution
- ground plane
- single view
- image space