Invariant filtering for legged humanoid locomotion on a dynamic rigid surface
State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid
surface moving in the world frame (eg, ships, aircraft, and trains), remained an …
surface moving in the world frame (eg, ships, aircraft, and trains), remained an …
Experimental investigations into using motion capture state feedback for real-time control of a humanoid robot
Regardless of recent advances, humanoid robots still face significant difficulties in
performing locomotion tasks. Among the key challenges that must be addressed to achieve …
performing locomotion tasks. Among the key challenges that must be addressed to achieve …
Multi-IMU Proprioceptive State Estimator for Humanoid Robots
FE Xavier, G Burger, M Pétriaux… - 2023 IEEE/RSJ …, 2023 - ieeexplore.ieee.org
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat
and in a constant position while in contact with the ground. However, this hypothesis is …
and in a constant position while in contact with the ground. However, this hypothesis is …
Whole-body human kinematics estimation using dynamical inverse kinematics and contact-aided lie group kalman filter
P Ramadoss, L Rapetti, Y Tirupachuri, R Grieco… - arXiv preprint arXiv …, 2022 - arxiv.org
Full-body motion estimation of a human through wearable sensing technologies is
challenging in the absence of position sensors. This paper contributes to the development of …
challenging in the absence of position sensors. This paper contributes to the development of …
State estimation for human motion and humanoid locomotion
P Ramadoss - arXiv preprint arXiv:2206.03833, 2022 - arxiv.org
The future where the industrial shop-floors witness humans and robots working in unison
and the domestic households becoming a shared space for both these agents is not very far …
and the domestic households becoming a shared space for both these agents is not very far …
Estimation of human base kinematics using dynamical inverse kinematics and contact-aided lie group kalman filter
P Ramadoss, L Rapetti, Y Tirupachuri… - 2022 IEEE-RAS 21st …, 2022 - ieeexplore.ieee.org
Full body motion estimation of a human through wearable sensing technologies is
challenging in the absence of position sensors since base kinematics is usually not directly …
challenging in the absence of position sensors since base kinematics is usually not directly …
Time-Varying Control and State Estimation for Bipedal Locomotion
Y Gao - 2024 - search.proquest.com
This dissertation focuses on advancing bipedal robot control and state estimation within the
context of dynamic environments. It encompasses several key stages, starting with the …
context of dynamic environments. It encompasses several key stages, starting with the …
Center of mass dynamics and contact-aided invariant filtering for biped robot state estimation
J Li, Z Yuan, X Sang, Q Zhou, J Zhang - IEEE Sensors Journal, 2023 - ieeexplore.ieee.org
Due to the complexity and uncertainty of the actual working environments, relying solely on
proprioceptive sensors to obtain accurate floating base and center of mass (CoM) estimates …
proprioceptive sensors to obtain accurate floating base and center of mass (CoM) estimates …
On the use of torque measurement in centroidal state estimation
State-of-the-art legged robots are either capable of measuring torque at the output of their
drive systems, or have transparent drive systems which enable the computation of joint …
drive systems, or have transparent drive systems which enable the computation of joint …
Centroidal State Estimation based on the Koopman Embedding for Dynamic Legged Locomotion
In this paper, we introduce a novel approach to centroidal state estimation, which plays a
crucial role in predictive model-based control strategies for dynamic legged locomotion. Our …
crucial role in predictive model-based control strategies for dynamic legged locomotion. Our …