Related papers: A Trident Quaternion Framework for Inertial-based …
This paper presents solutions to the following two common quaternion attitude estimation problems: (i) estimation of attitude using measurement of two reference vectors, and (ii) estimation of attitude using rate measurement and measurement…
We present a method to improve the accuracy of a foot-mounted, zero-velocity-aided inertial navigation system (INS) by varying estimator parameters based on a real-time classification of motion type. We train a support vector machine (SVM)…
The aim of this paper is to present a novel physics-based framework for the identification of dynamical systems, in which the physical and structural insights are reflected directly into a backpropagation-based learning algorithm. The main…
We present a legged motion planning approach for quadrupedal locomotion over challenging terrain. We decompose the problem into body action planning and footstep planning. We use a lattice representation together with a set of defined body…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
The main objective of this paper is to propose an alternative procedure to carry out one of the key steps of immersion and invariance stabilising controller design. Namely, the one that ensures attractivity of the manifold whose internal…
Biological flying, gliding, and falling creatures are capable of extraordinary forms of inertial maneuvering: free-space maneuvering based on fine control of their multibody dynamics, as typified by the self-righting reflexes of cats.…
This paper investigates the robust global attitude stabilization problem for a rigid-body system using quaternion-based feedback. We propose a novel synergistic hybrid feedback with the following notable features: (1) It demonstrates…
This paper addresses the modeling and attitude control of jumping quadrupeds in low-gravity environments. First, a convex decomposition procedure is presented to generate high-accuracy and low-cost collision geometries for quadrupeds…
Achieving versatile and explosive motion with robustness against dynamic uncertainties is a challenging task. Introducing parallel compliance in quadrupedal design is deemed to enhance locomotion performance, which, however, makes the…
This paper introduces a Transformer-Enhanced Physics-Informed Neural Network (TE-PINN) designed for accurate quaternion-based orientation estimation in high-dynamic environments, particularly within the field of robotics. By integrating…
By learning human motion priors, motion capture can be achieved by 6 inertial measurement units (IMUs) in recent years with the development of deep learning techniques, even though the sensor inputs are sparse and noisy. However, human…
Modeling the kinematics and dynamics of robotics systems with suspended loads using dual quaternions has not been explored so far. This paper introduces a new innovative control strategy using dual quaternions for UAVs with cable-suspended…
A fundamental requirement for full autonomy is the ability to sustain accurate navigation in the absence of external data, such as GNSS signals or visual information. In these challenging environments, the platform must rely exclusively on…
Robots are increasingly integrated across industries, particularly in healthcare. However, many valuable applications for quadrupedal robots remain overlooked. This research explores the effectiveness of three reinforcement learning…
Flexible filaments and fibres are essential components of important complex fluids that appear in many biological and industrial settings. Direct simulations of these systems that capture the motion and deformation of many immersed…
In inertial motion capture, a multitude of body segments are equipped with inertial sensors, consisting of 3D accelerometers and 3D gyroscopes. Using an optimization-based approach to solve the motion capture problem allows for natural…
Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…
3D Reconstruction of moving articulated objects without additional information about object structure is a challenging problem. Current methods overcome such challenges by employing category-specific skeletal models. Consequently, they do…
In this paper, a new measurement system based on integration method is presented,which can provide all-weather dependability and higher precision for the measurement of FAST's feed support system. The measurement system consists of three…