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003 MX-SnUAN
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008 150903s2005 gw | o |||| 0|eng d
020 _a9783540315049
_99783540315049
024 7 _a10.1007/11533054
_2doi
035 _avtls000347731
039 9 _a201509030737
_bVLOAD
_c201404121024
_dVLOAD
_c201404090801
_dVLOAD
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_zstaff
040 _aMX-SnUAN
_bspa
_cMX-SnUAN
_erda
100 1 _aLefebvre, Tine.
_eautor
_9329451
245 1 0 _aNonlinear Kalman Filtering for Force-Controlled Robot Tasks /
_cby Tine Lefebvre, Herman Bruyninckx, Joris Schutter.
264 1 _aBerlin, Heidelberg :
_bSpringer Berlin Heidelberg,
_c2005.
300 _axv, 265 páginas 86 ilustraciones Also available online.
_brecurso en línea.
336 _atexto
_btxt
_2rdacontent
337 _acomputadora
_bc
_2rdamedia
338 _arecurso en línea
_bcr
_2rdacarrier
347 _aarchivo de texto
_bPDF
_2rda
490 0 _aSpringer Tracts in Advanced Robotics,
_x1610-7438 ;
_v19
500 _aSpringer eBooks
505 0 _aIntroduction -- Literature Survey: Autonomous Compliant Motion -- Literature Survey: Bayesian Probability Theory -- Kalman Filters for Nonlinear Systems -- The Non-Minimal State Kalman Filter -- Contact Modelling -- Geometrical Parameter Estimation and CF Recognition -- Experiment: A Cube-In-Corner Assembly -- Task Planning with Active Sensing -- General Conclusions.
520 _aThis monograph focuses on how to achieve more robot autonomy by means of reliable processing skills. "Nonlinear Kalman Filtering for Force-Controlled Robot Tasks " discusses the latest developments in the areas of contact modeling, nonlinear parameter estimation and task plan optimization for improved estimation accuracy. Kalman filtering techniques are applied to identify the contact state based on force sensing between a grasped object and the environment. The potential of this work is to be found not only for industrial robot operation in space, sub-sea or nuclear scenarios, but also for service robots operating in unstructured environments co-habited by humans where autonomous compliant tasks require active sensing.
590 _aPara consulta fuera de la UANL se requiere clave de acceso remoto.
700 1 _aBruyninckx, Herman.
_eautor
_9329452
700 1 _aSchutter, Joris.
_eautor
_9329453
710 2 _aSpringerLink (Servicio en línea)
_9299170
776 0 8 _iEdición impresa:
_z9783540280231
856 4 0 _uhttp://remoto.dgb.uanl.mx/login?url=http://dx.doi.org/10.1007/11533054
_zConectar a Springer E-Books (Para consulta externa se requiere previa autentificación en Biblioteca Digital UANL)
942 _c14
999 _c295216
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