DocumentCode
2777348
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
Volume
3
fYear
2000
fDate
2000
Firstpage
2317
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.2000.895314
Filename
895314
Link To Document