Modeling, Estimation, and Control of Robot-Soil Interactions
This thesis presents the development of hardware, theory, and experimental methods to enable a robotic manipulator arm to interact with soils and estimate soil properties from interaction forces. Unlike the majority of robotic systems interacting with soil, our objective is parameter estimation, not...
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| Language: | en_US |
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2004
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| Online Access: | http://hdl.handle.net/1721.1/7075 |