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active agent algorithm application Artificial Intelligence ASIMOV assistance Automation Autonomous Mobile Robots autonomous robots behaviour camera CAN-bus Certainty Tree chapter command complex configuration control architecture control systems coordinate detection devices disabled dynamic Engineering environment estimation example force functionality goal gripper histogram human IEEE implementation industrial robots input integrated interaction joint joystick Kalman filter Katevas kinematic landmarks laser localisation manipulator MANUS measure method modular module motion motor MOV AID movement navigation nodes object obstacle avoidance occupancy grid omnidirectional operation path planning patient perception perform position problem programming prototype quad tree rehabilitation robotics robot arm Robotic Systems Robotics in Healthcare rotation segments sensor fusion service robot shown in Figure sonar specific steering strategy subsumption architecture switch task Tzafestas ultrasonic sensors user interface velocity vision systems wheel wheelchair workspace workstations