Title :
A signal-based approach to localization and navigation of autonomous compliant motion
Author :
Koeppe, Ralf ; Hirzinger, Gerd
Author_Institution :
Inst. of Robotics & Mech., German Aerosp. Center, Wessling, Germany
Abstract :
Architectures for the execution of autonomous compliant motion (ACM) require modules for 6 degree-of-freedom localization, navigation and force control of robot manipulators. We review existing model- and signal-based approaches to ACM and present a solution for the synthesis of localization and navigation using sensorimotor signals recorded from human demonstration
Keywords :
compliance control; force control; navigation; position control; robot kinematics; autonomous compliant motion; force control; kinematics; localization; model-based control; navigation; robot manipulators; robots; signal-based control; Control system synthesis; Force control; Humans; Kinematics; Monitoring; Navigation; Robot sensing systems; Signal synthesis; Solid modeling; Velocity control;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895314
