相关论文: The Manifold Particle Filter for State Estimation …

This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions…

Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…

Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

Fast pose estimation (PE) is of vital importance for successful mission performance of agile autonomous robots. Global Positioning Systems such as GPS and GNSS have been typically used in fusion with Inertial Navigation Systems (INS) for…

Kalman filter-based algorithms are fundamental for mobile robots, as they provide a computationally efficient solution to the challenging problem of state estimation. However, they rely on two main assumptions that are difficult to satisfy…

Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…

We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…

Magnetic force microscopy (MFM) is a well-established technique in scanning probe microscopy that allows for the imaging of magnetic samples with a spatial resolution of tens of nm and stray fields down to the mT range. The spatial…

Estimating physical properties is critical for safe and efficient autonomous robotic manipulation, particularly during contact-rich interactions. In such settings, vision and tactile sensing provide complementary information about object…

This study tackles the representative yet challenging contact-rich peg-in-hole task of robotic assembly, using a soft wrist that can operate more safely and tolerate lower-frequency control signals than a rigid one. Previous studies often…

In this paper, we present a fast and decentralized state estimation framework for the control of legged locomotion. The nonlinear estimation of the floating base states is decentralized to an orientation estimation via Extended Kalman…

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…

This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…

This paper introduces a novel state estimation framework for robots using differentiable ensemble Kalman filters (DEnKF). DEnKF is a reformulation of the traditional ensemble Kalman filter that employs stochastic neural networks to model…

For challenging state estimation problems arising in domains like vision and robotics, particle-based representations attractively enable temporal reasoning about multiple posterior modes. Particle smoothers offer the potential for more…

Contact estimation is a key ability for limbed robots, where making and breaking contacts has a direct impact on state estimation and balance control. Existing approaches typically rely on gate-cycle priors or designated contact sensors. We…

Nonlinear manifold learning (ML) based reduced-order models (ROMs) can substantially improve the quality of nonlinear flow-field modeling. However, noise and the lack of physical information often distort the dimensionality-reduction…

Disturbance estimation for Micro Aerial Vehicles (MAVs) is crucial for robustness and safety. In this paper, we use novel, bio-inspired airflow sensors to measure the airflow acting on a MAV, and we fuse this information in an Unscented…

Noncontact particle manipulation (NPM) technology has significantly extended mankind's analysis capability into micro and nano scale, which in turn greatly promoted the development of material science and life science. Though NPM by means…