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Reactive control and sensor fusion for mobile manipulators in human robot interaction

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Academic year: 2021

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Figure

Figure 1.1: A typical object exchange task: robot gives an object to human.
Figure 1.3: Relationship of different contributions of this thesis: force sensing, classification and reactive trajectory controller.
Figure 2.1: Jido, robot developed at LAAS-CNRS Motion Capture3D Model (spark)Kinect(niut) 3D-Vision (viman) Kuka LBR-IV (lwr)
Figure 2.3: PR2, robot developed by Willow Garage
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