Abstract
This chapter presents the estimator component of the autonomous compliant motion system (see Fig. 1.2). This component
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estimates the geometrical parameters (positions, orientations and dimensions of the contacting objects) during autonomous compliant motion.
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monitors CF transitions and recognises the CF after a transition.
The estimation is based on measurements of the manipulated object pose and twist and of the contact wrench.
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Lefebvre, T., Bruyninckx, H., De Schutter, J. 7 Geometrical Parameter Estimation and CF Recognition. In: Nonlinear Kalman Filtering for Force-Controlled Robot Tasks. Springer Tracts in Advanced Robotics, vol 19. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11533054_7
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DOI: https://doi.org/10.1007/11533054_7
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-28023-1
Online ISBN: 978-3-540-31504-9
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