Building Blocks for SLAM in Autonomous Compliant Motion
نویسندگان
چکیده
This paper presents our research group’s latest results in fully autonomous force-controlled manipulation tasks: (i) advanced non-linear estimators for simultaneous parameter estimation and contact formation “map building” for 6D contact tasks (with active sensing integrated into the task planner), and (ii) the application of these results to programming by human demonstration, for tasks involving contacts. The paper also describes our efforts to integrate the estimators in the Free Software robot control software project Orocos.
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تاریخ انتشار 2003