Related papers: State Estimation for a Humanoid Robot
This paper presents a novel cascade nonlinear observer framework for inertial state estimation. It tackles the problem of intermediate state estimation when external localization is unavailable or in the event of a sensor outage. The…
The Extended Kalman Filter (EKF) is both the historical algorithm for multi-sensor fusion and still state of the art in numerous industrial applications. However, it may prove inconsistent in the presence of unobservability under a group of…
This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integrated Kalman filter (KF) and an Iterative Closest Point…
Velocity estimation is of great importance in autonomous racing. Still, existing solutions are characterized by limited accuracy, especially in the case of aggressive driving or poor generalization to unseen road conditions. To address…
Hybrid state estimators that combine model-based Kalman filtering with learned components have shown promise on simulated data, yet their performance on real-world automotive data remains insufficient. In this work we present Adaptive…
Modern autonomous systems are purposed for many challenging scenarios, where agents will face unexpected events and complicated tasks. The presence of disturbance noise with control command and unknown inputs can negatively impact robot…
The essential of navigation, perception, and decision-making which are basic tasks for intelligent robots, is to estimate necessary system states. Among them, navigation is fundamental for other upper applications, providing precise…
Most humanoid robots have highly complicated structure and design of robots that are very similar to human is extremely difficult. In this paper, modelling of a general and comprehensive algorithm for control of humanoid robots is presented…
Human motion capture is frequently used to study rehabilitation and clinical problems, as well as to provide realistic animation for the entertainment industry. IMU-based systems, as well as Marker-based motion tracking systems, are the…
This paper presents the complete design, control, and experimental validation of a low-cost Stewart platform prototype developed as an affordable yet capable robotic testbed for research and education. The platform combines off the shelf…
This paper proposes a novel approach to improve the performance of the extended Kalman filter (EKF) for the problem of mobile robot localization. A fuzzy logic system is employed to continuous-ly adjust the noise covariance matrices of the…
RGB-D sensors face multiple challenges operating under open-field environments because of their sensitivity to external perturbations such as radiation or rain. Multiple works are approaching the challenge of perceiving the 3D position of…
Tracking algorithms such as the Kalman filter aim to improve inference performance by leveraging the temporal dynamics in streaming observations. However, the tracking regularizers are often based on the $\ell_p$-norm which cannot account…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…
In this study, we address multi-robot localization issues, with a specific focus on cooperative localization and observability analysis of relative pose estimation. Cooperative localization involves enhancing each robot's information…
Purpose of Review: The field of humanoid robotics, perception plays a fundamental role in enabling robots to interact seamlessly with humans and their surroundings, leading to improved safety, efficiency, and user experience. This…
We propose a state estimation method that can accurately predict the robot's privileged states to push the limits of quadruped robots in executing advanced skills such as jumping in the wild. In particular, we present the State Estimation…
This paper describes a novel method for the estimation of the trajectory curve and orientation of a rigid body moving along a railway track. Compared to other recent developments in the literature, the presented approach has the significant…
We estimate the state a noisy robot arm and underactuated hand using an Implicit Manifold Particle Filter (MPF) informed by touch sensors. As the robot touches the world, its state space collapses to a contact manifold that we represent…
Humanoid robots are designed to navigate environments accessible to humans using their legs. However, classical research has primarily focused on controlled laboratory settings, resulting in a gap in developing controllers for navigating…