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Human pose estimation involves detecting and tracking the positions of various body parts using input data from sources such as images, videos, or motion and inertial sensors. This paper presents a novel approach to human pose estimation…
Reactive motion generation in dynamic and unstructured scenarios is typically subject to essentially static perception and system dynamics. Reliably modeling dynamic obstacles and optimizing collision-free trajectories under perceptive and…
This paper introduces a novel trajectory planner for autonomous robots, specifically designed to enhance navigation by incorporating dynamic obstacle avoidance within the Robot Operating System 2 (ROS2) and Navigation 2 (Nav2) framework.…
Accurate and comprehensive 3D sensing using LiDAR systems is crucial for various applications in photogrammetry and robotics, including facility inspection, Building Information Modeling (BIM), and robot navigation. Motorized LiDAR systems…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…
Precise localization is a core ability of an autonomous vehicle. It is a prerequisite for motion planning and execution. The well-established localization approaches such as Kalman and particle filters require a probabilistic observation…
The cerebellum plays a distinctive role within our motor control system to achieve fine and coordinated motions. While cerebellar lesions do not lead to a complete loss of motor functions, both action and perception are severally impacted.…
In this paper, a fixed-time disturbance observerbased model predictive control algorithm is proposed for trajectory tracking of quadrotor in the presence of disturbances. First, a novel multivariable fixed-time disturbance observer is…
Safe mobility for unmanned ground vehicles requires reliable detection of other vehicles, along with precise estimates of their locations and trajectories. Here we describe the algorithms and system we have developed for accurate trajectory…
We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders,…
This paper presents a data-driven strategy to streamline the deployment of model-based controllers in legged robotic hardware platforms. Our approach leverages a model-free safe learning algorithm to automate the tuning of control gains,…
In this work, we introduce a control framework that combines model-based footstep planning with Reinforcement Learning (RL), leveraging desired footstep patterns derived from the Linear Inverted Pendulum (LIP) dynamics. Utilizing the LIP…
Forecasting the scalable future states of surrounding traffic participants in complex traffic scenarios is a critical capability for autonomous vehicles, as it enables safe and feasible decision-making. Recent successes in learning-based…
In this letter, we present tightly coupled LiDAR-IMU-leg odometry, which is robust to challenging conditions such as featureless environments and deformable terrains. We developed an online learning-based leg kinematics model named the…
Model predictive control (MPC) has shown great success for controlling complex systems such as legged robots. However, when closing the loop, the performance and feasibility of the finite horizon optimal control problem (OCP) solved at each…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…
When balancing, a humanoid robot can be easily subjected to unexpected disturbances like external pushes. In these circumstances, reactive movements as steps become a necessary requirement in order to avoid potentially harmful falling…
The ability to generate dynamic walking in real-time for bipedal robots with input constraints and underactuation has the potential to enable locomotion in dynamic, complex and unstructured environments. Yet, the high-dimensional nature of…
Amphibious legged robots inspired by salamanders are promising in applications in complex amphibious environments. However, despite the significant success of training controllers that achieve diverse locomotion behaviors in conventional…