Related papers: Simultaneous Collision Detection and Force Estimat…
Quadrupedal robots hold promising potential for applications in navigating cluttered environments with resilience akin to their animal counterparts. However, their floating base configuration makes them vulnerable to real-world…
This paper studies the problem of Cooperative Localization (CL) for multi-robot systems, where a group of mobile robots jointly localize themselves by using measurements from onboard sensors and shared information from other robots. We…
This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…
Background: Multi-articulate prostheses are capable of performing dexterous hand movements. However, clinically available control strategies fail to provide users with intuitive, independent and proportional control over multiple degrees of…
The use of state estimation technique offers a means of inferring the rotor-effective wind speed based upon solely standard measurements of the turbine. For the ease of design and computational concerns, such estimators are typically built…
This paper presents a new optimal filter namely past observation-based extended Kalman filter for the problem of localization of Internet-based mobile robot in which the control input and the feedback measurement suffer from communication…
This paper proposes a method for tight fusion of visual, depth and inertial data in order to extend robotic capabilities for navigation in GPS-denied, poorly illuminated, and texture-less environments. Visual and depth information are fused…
This paper addresses the problem of computing optimal impedance schedules for legged locomotion tasks involving complex contact interactions. We formulate the problem of impedance regulation as a trade-off between disturbance rejection and…
In this paper, a method for autonomous segmentation of demonstrated robot movements is proposed. Position data is clustered into Gaussian mixture models (GMMs), and an initial set of segments is identified from the Gaussian basis functions.…
We propose a method to tackle the problem of mapless collision-avoidance navigation where humans are present using 2D laser scans. Our proposed method uses ego-safety to measure collision from the robot's perspective while social-safety to…
This work addresses the critical lack of precision in state estimation in the Kalman filter for 3D multi-object tracking (MOT) and the ongoing challenge of selecting the appropriate motion model. Existing literature commonly relies on…
This study presents an enhanced proprioceptive method for accurate shape estimation of soft robots using only off-the-shelf sensors, ensuring cost-effectiveness and easy applicability. By integrating inertial measurement units (IMUs) with…
Quadruped robots are designed to achieve agile and robust locomotion by drawing inspiration from legged animals. However, most existing control methods for quadruped robots lack a key capacity observed in animals: the ability to exhibit…
This paper presents a safety-critical approach to the coordinated control of cooperative robots locomoting in the presence of fixed (holonomic) constraints. To this end, we leverage control barrier functions (CBFs) to ensure the safe…
One of the significant challenges in legged robotics is achieving accurate odometry using only onboard proprioceptive sensors. In this study, we present a complete leg odometry pipeline based on an Error-State EKF (ESEKF) that relies…
Planning locomotion trajectories for legged microrobots is challenging because of their complex morphology, high frequency passive dynamics, and discontinuous contact interactions with their environment. Consequently, such research is often…
Reliable estimation of contact forces is crucial for ensuring safe and precise interaction of robots with unstructured environments. However, accurate sensorless force estimation remains challenging due to inherent modeling errors and…
This paper presents a novel method for attitude estimation of an object in 3D space by incremental learning of the Long-Short Term Memory (LSTM) network. Gyroscope, accelerometer, and magnetometer are few widely used sensors in attitude…
Inertial Navigation Systems (INS) are a key technology for autonomous vehicles applications. Recent advances in estimation and filter design for the INS problem have exploited geometry and symmetry to overcome limitations of the classical…
Traditional tracking-by-detection systems typically employ Kalman filters (KF) for state estimation. However, the KF requires domain-specific design choices and it is ill-suited to handling non-linear motion patterns. To address these…