Related papers: Simultaneous Ground Reaction Force and State Estim…
In this paper, we consider the problem of multirotor flying robots physically interacting with the environment under wind influence. The result are the first algorithms for simultaneous online estimation of contact and aerodynamic wrenches…
Walking is a key movement of interest in biomechanics, yet gold-standard data collection methods are time- and cost-expensive. This paper presents a real-time, multimodal, high sample rate lower-limb motion capture framework, based on…
For robots with low rigidity, determining the robot's state based solely on kinematics is challenging. This is particularly crucial for a robot whose entire body is in contact with the environment, as accurate state estimation is essential…
In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…
This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity measurements from a tracking camera and leg kinematic…
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor…
Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise covariances, which are typically unknown or manually tuned. In…
Designing robots capable of traversing uneven terrain and overcoming physical obstacles has been a longstanding challenge in the field of robotics. Walking robots show promise in this regard due to their agility, redundant DOFs and…
To control a dynamical system it is essential to obtain an accurate estimate of the current system state based on uncertain sensor measurements and existing system knowledge. An optimization-based moving horizon estimation (MHE) approach…
State estimation techniques for continuum robots (CRs) typically involve using computationally complex dynamic models, simplistic shape approximations, or are limited to quasi-static methods. These limitations can be sensitive to unmodelled…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
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…
Wearable sensor-based human gait analysis holds great promise in healthcare, rehabilitation, clinical diagnosis and monitoring, and sports activities. Specifically, ground reaction force (GRF) provides essential insights into the body's…
Monitoring athlete internal workload exposure, including prevention of catastrophic non-contact knee injuries, relies on the existence of a custom early-warning detection system. This system must be able to estimate accurate, reliable, and…
Accurate estimation of three-dimensional ground reaction forces and moments (GRFs/GRMs) is crucial for both biomechanics research and clinical rehabilitation evaluation. In this study, we focus on insole-based GRF/GRM estimation and further…
Locomotion over soft terrain remains a challenging problem for legged robots. Most of the work done on state estimation for legged robots is designed for rigid contacts, and does not take into account the physical parameters of the terrain.…
The control of field robots in varying and uncertain terrain conditions presents a challenge for autonomous navigation. Online estimation of the wheel-terrain slip characteristics is essential for generating the accurate control predictions…
Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…
Optimization-based state estimation is useful for nonlinear or constrained dynamic systems for which few general methods with established properties are available. The two fundamental forms are moving horizon estimation (MHE) which uses the…
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically…