Related papers: DILIGENT-KIO: A Proprioceptive Base Estimator for …
This paper presents a stochastic/robust nonlinear model predictive control (NMPC) to enhance the robustness of model-based legged locomotion against contact uncertainties. We integrate the contact uncertainties into the covariance…
As mobile robots are increasingly deployed in human environments, enabling them to predict how people perceive them is critical for socially adaptable navigation. Predicting perceptions is challenging for two main reasons: (1) HRI…
Pose estimation is important for robotic perception, path planning, etc. Robot poses can be modeled on matrix Lie groups and are usually estimated via filter-based methods. In this paper, we establish the closed-form formula for the error…
A common approach to the generation of walking patterns for humanoid robots consists in adopting a layered control architecture. This paper proposes an architecture composed of three nested control loops. The outer loop exploits a robot…
Manipulation with whole-body contact by humanoid robots offers distinct advantages, including enhanced stability and reduced load. On the other hand, we need to address challenges such as the increased computational cost of motion…
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. A major contributor to the success of such methods is their robustness in the face of non-smooth and…
This paper aims to develop distributed feedback control algorithms that allow cooperative locomotion of quadrupedal robots which are coupled to each other by holonomic constraints. These constraints can arise from collaborative manipulation…
Pose estimation, tracking, and action recognition of articulated objects from depth images are important and challenging problems, which are normally considered separately. In this paper, a unified paradigm based on Lie group theory is…
This paper presents Elevator-LIO, a LiDAR-inertial odometry framework designed to achieve continuous robot localization during elevator travel, thereby supporting cross-floor robotic tasks. To address the state-estimation problem in…
This paper reports on a new error-state Model Predictive Control (MPC) approach to connected matrix Lie groups for robot control. The linearized tracking error dynamics and the linearized equations of motion are derived in the Lie algebra.…
To enable humanoid robots to work robustly in confined environments, multi-contact motion that makes contacts not only at extremities, such as hands and feet, but also at intermediate areas of the limbs, such as knees and elbows, is…
This paper addresses the problem of cooperative transport of a point mass hoisted by two aerial robots. Treating the robots as a leader and a follower, the follower stabilizes the system with respect to the leader using only feedback from…
An accurate odometry is essential for legged-wheel robots operating in unstructured terrains such as bumpy roads and staircases. Existing methods often suffer from pose drift due to their ignorance of terrain geometry. We propose a…
In this work, the problem of human-robot collaborative object transfer to unknown target poses is addressed. The desired pattern of the end-effector pose trajectory to a known target pose is encoded using DMPs (Dynamic Movement Primitives).…
This paper presents the design and development of a robotic system to give physical assistance to the elderly or people with neurological disorders such as Ataxia or Parkinson's. In particular, we propose using a mobile collaborative robot…
This paper presents a bimanual haptic display based on collaborative robot arms. We address the limitations of existing robot arm-based haptic displays by optimizing the setup configuration and implementing inertia/friction compensation…
To perform complex tasks, robots must be able to interact with and manipulate their surroundings. One of the key challenges in accomplishing this is robust state estimation during physical interactions, where the state involves not only the…
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required to achieve it. Bipedal walking is inherently complex and…
Inertial measurement units are widely used in different fields to estimate the attitude. Many algorithms have been proposed to improve estimation performance. However, most of them still suffer from 1) inaccurate initial estimation, 2)…
Collaborative state estimation using different heterogeneous sensors is a fundamental prerequisite for robotic swarms operating in GPS-denied environments, posing a significant research challenge. In this paper, we introduce a centralized…