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Model Based Position-Force-Vision Sensor Fusion for Robot Compliant Motion Control

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6 Author(s)
Smits, R. ; Dept. of Mech. Eng., Katholieke Univ. Leuven ; Bruyninckx, H. ; Meeussen, W. ; Baeten, J.
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This paper shows how multi sensor fusion with position, force and vision sensors can help to improve robot control. It shows how Bayesian filtering helps in the fusion and how the extra information from fusing the sensors can be used in different control aspects. The paper gives an overview of increasingly more complex control tasks, whose realization depend on increasingly more "high level" sensor fusion

Published in:

Multisensor Fusion and Integration for Intelligent Systems, 2006 IEEE International Conference on

Date of Conference:

3-6 Sept. 2006