Related papers: Inertial Sensor-Based Humanoid Joint State Estimat…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
In recent years, MEMS inertial sensors (3D accelerometers and 3D gyroscopes) have become widely available due to their small size and low cost. Inertial sensor measurements are obtained at high sampling rates and can be integrated to obtain…
In the realm of robotics, achieving simultaneous localization and mapping (SLAM) is paramount for autonomous navigation, especially in challenging environments like texture-less structures. This paper proposed a factor-graph-based model…
Accurate ground reaction force (GRF) estimation can significantly improve the adaptability of legged robots in various real-world applications. For instance, with estimated GRF and contact kinematics, the locomotion control and planning…
In this paper, we introduce a novel formulation for camera motion estimation that integrates RGB-D images and inertial data through scene flow. Our goal is to accurately estimate the camera motion in a rigid 3D environment, along with the…
Gait phase estimation based on inertial measurement unit (IMU) signals facilitates precise adaptation of exoskeletons to individual gait variations. However, challenges remain in achieving high accuracy and robustness, particularly during…
Work-related upper extremity musculoskeletal disorders (WRUED) are a major problem in modern societies as they affect the quality of life of workers and lead to absenteeism and productivity loss. According to studies performed in North…
IMUs are gaining significant importance in the field of hand gesture analysis, trajectory detection and kinematic functional study. An Inertial Measurement Unit (IMU) consists of tri-axial accelerometers and gyroscopes which can together be…
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…
MEMS Inertial Measurement Units (IMUs) as ubiquitous proprioceptive motion measurement devices are available on various everyday gadgets and robotic platforms. Nevertheless, the direct inference of geometrical transformations or odometry…
Robust locomotion control depends on accurate state estimations. However, the sensors of most legged robots can only provide partial and noisy observations, making the estimation particularly challenging, especially for external states like…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot…
Human bodily movements convey critical insights into action intentions and cognitive processes, yet existing multimodal systems primarily focused on understanding human motion via language, vision, and audio, which struggle to capture the…
We propose a combined method for the collaborative transportation of a suspended payload by a team of rotorcraft. A recent distance-based formation-motion control algorithm based on assigning distance disagreements among robots generates…
Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…
Quantitative estimation of human joint motion in daily living spaces is essential for early detection and rehabilitation tracking of neuromusculoskeletal disorders (e.g., Parkinson's) and mitigating trip and fall risks for older adults.…
Inertial motion analysis is having a growing interest during the last decades due to its advantages over classical optical systems. The technological solution based on inertial measurement units allows the measurement of movements in daily…
Tracking kinematic chains has many uses from healthcare to virtual reality. Inertial measurement units, IMUs, are well-recognised for their body tracking capabilities, however, existing solutions rely on gravity and often magnetic fields…
As the availability of cobots increases, it is essential to address the needs of users with little to no programming knowledge to operate such systems efficiently. Programming concepts often use intuitive interaction modalities, such as…