Tracking and Control of Articulated Machines through Remote Sensing (TracMac)

A key enabling technology for remote machine operation is the ability to estimate and control the full machine state. In the TracMac project we will devise and implement novel methods for estimating the state of articulated manipulators: using remote depth sensor measurements. We will verify the validity and utility of the state estimate by using it in a feedback controller. By removing all sensor hardware from the manipulator, we will greatly increase hardware robustness to damage and reduce repair and maintenance costs.