Nonlinear Kalman Filtering for Force-Controlled Robot Tasks

Introduction.- 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.