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By I. Kulyukin

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Control Conference, 2007. CCC 2007. Chinese (pp. 339-403). Zhangjiajie, Hunan, China: IEEE. , & Ohnishi, K. (Dec. 2004). Autonomous decentralized control for formation of multiple mobile robots considering ability of robot. IEEE Transactions on Industrial Electronics , 51 (6), 1272-1279. , & Kayak, D. (2008). SLAM for robot navigation. IEEE Aerospace and Electronic Systems Magazine , 23 (12), 16-19. , & Bo, Y. (5-8 Oct. 2003). Design and realization of communication mechanism of autonomous robot soccer based on multi-agent system.

Invited paper for the Journal of Robotic Systems , 14 (Special Issue on Mobile Robots), 231-249. , & Sukkarieh, S. (2008). Observability analysis and active control for airborne SLAM. IEEE Transactions on Aerospace and Electronic Systems , 44 (1), 261-280. , & Trassoudaine, L. (2008). LAM process using Polynomial Extended Kalman Filter: Experimental assessment. Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference (pp. 365 - 370 ). IEEE. , & Perruquetti, W. (2008).

Because the contact probe does not move during tactile sensing, the probe can be set to stay at its equilibrium position, and no static spring force is applied to the force sensor. However, a small preloaded spring force is intentionally applied to keep a tight contact in the axial direction between the probe, the PVDF module, and the force sensor. One disadvantage of the disk spring mechanism is its low radial stiffness, which results in the coupling effect between the measured tangential forces and the normal contact force, and therefore, a decoupling calculation is required.

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