Pose estimation for planar contact manipulation with manifold particle filters
نویسندگان
چکیده
منابع مشابه
Pose estimation for planar contact manipulation with manifold particle filters
We investigate the problem of using contact sensors to estimate the pose of an object during planar pushing by a fixed-shape hand. Contact sensors are unique because they inherently discriminate between “contact” and “no-contact” configurations. As a result, the set of object configurations that activates a sensor constitutes a lower-dimensional contact manifold in the configuration space of th...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2015
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364915571007