Geometric 3D model building using compliant motion sensor measurements

Focusing on the programming of industrial robots, this book explores the concept of Programming by Demonstration, where robots learn tasks through human demonstrations. It emphasizes the importance of accurately measuring positions and contact forces to enhance robot autonomy in various applications, including service robotics and industrial assembly. Key topics include contact modeling and model reduction techniques, such as Kalman and particle filtering, which improve computational efficiency. Additionally, it discusses optimizing hardware architecture for concurrent computations using FPGA technology.