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Title:

Mixture of experts on Riemannian manifolds for visual-servoing fixtures

Document type:
Konferenzbeitrag
Author(s):
Mühlbauer, Maximilian Sebastian; Stulp, Freek; Albu-Schäffer, Alin Olimpiu; Silvério, João
Abstract:
Adaptive Virtual Fixtures (VFs) for teleoperation often rely on visual inputs for online adaptation. State estimation from visual detections is never perfect, and thus affects the quality and robustness of adaptation. It is therefore important to be able to quantify how uncertain an estimation from vision is. This can, for example, inform on how to modulate a fixture's stiffness to decrease the physical force a human operator has to apply. Furthermore, the target of a manipulation operation migh...     »
Keywords:
Mixture of experts, Riemannian manifolds, shared control, virtual fixtures
Book / Congress title:
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, Workshop on Probabilistic Robotics in the Age of Deep Learning
Year:
2022
Month:
Oktober
WWW:
https://elib.dlr.de/189970/
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