Related papers: An Accurate Filter-based Visual Inertial External …
Although autonomous control of robotic manipulators has been studied for several decades, they are not commonly used in safety-critical applications due to lack of safety and performance guarantees - many of them concerning the modulation…
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement well each other. However, in order to perform this fusion, the biases of the Inertial…
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
Inertial sensors based on micro-electromechanical systems (MEMS) technology, such as accelerometers and angular rate sensors, are cost-effective solutions used in inertial navigation systems in a broad spectrum of applications that estimate…
Modern power systems face new operational hurdles due to the increasing adoption of inverter-coupled distributed energy resources, which impact system stability and control. Central to these challenges is the dynamic nature of grid…
Magnetometer is a significant sensor for integrated navigation. However, it suffers from many kinds of unknown dynamic magnetic disturbances. We study the problem of online estimating such disturbances via a nonlinear optimization aided by…
In this study, we address the challenge of disturbance estimation in legged robots by introducing a novel continuous-time online feedback-based disturbance observer that leverages measurable variables. The distinct feature of our observer…
Purpose: Point-of-care MRI requires operation outside of a faraday shielded room normally used to block image-degrading electromagnetic Interference (EMI). To address this, we introduce the EDITER method, an external sensor based dynamic…
Marginal structural models are a popular method for estimating causal effects in the presence of time-varying exposures. In spite of their popularity, no scalable non-parametric estimator exist for marginal structural models with…
This paper describes the design and development of a non-intrusive inertial speed sensor that can be reliably used to replace a conventional optical or hall effect-based speedometer on any kind of ground vehicle. The design allows for…
The performance of inertial navigation systems is largely dependent on the stable flow of external measurements and information to guarantee continuous filter updates and bind the inertial solution drift. Platforms in different operational…
Achieving reliable ego motion estimation for agile robots, e.g., aerobatic aircraft, remains challenging because most robot sensors fail to respond timely and clearly to highly dynamic robot motions, often resulting in measurement blurring,…
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No…
A globally exponentially stable speed observer for mechanical systems was recently reported in the literature, under the assumptions of known (or no) Coulomb friction and no disturbances. In this note we propose and adaptive version of this…
This paper proposes a new algorithm for compensating external disturbances for class of multi-channel linear systems. The solution to this problem is based on the use of the internal model principle and the extended error adaptation…
Adaptive autonomous navigation with no prior knowledge of extraneous disturbance is of great significance for quadrotors in a complex and unknown environment. The mainstream that considers external disturbance is to implement…
Input current estimation is indispensable in the sensorless control algorithms for the problem of power factor compensation (PFC) of an AC-DC boost converter. The system estimator design is challenged by the bilinear form dynamics and…
Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work…
In minimally invasive telesurgery, obtaining accurate force information is difficult due to the complexities of in-vivo end effector force sensing. This constrains development and implementation of haptic feedback and force-based automated…