相关论文: Preintegrated Velocity Bias Estimation to Overcome…

As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this paper considers how to accurately estimate which feet are…

Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…

We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…

Reliable offroad autonomy requires low-latency, high-accuracy state estimates of pose as well as velocity, which remain viable throughout environments with sub-optimal operating conditions for the utilized perception modalities. As state…

Tunnels and long corridors are challenging environments for mobile robots because a LiDAR point cloud should degenerate in these environments. To tackle point cloud degeneration, this study presents a tightly-coupled LiDAR-IMU-wheel…

Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…

Accurate post-impact velocity predictions are essential in developing impact-aware manipulation strategies for robots, where contacts are intentionally established at non-zero speed mimicking human manipulation abilities in dynamic grasping…

This paper presents the design of a pose estimator for a four wheel independent steer four wheel independent drive (4WIS4WID) wall climbing mobile robot, based on the fusion of multimodal measurements, including wheel odometry, visual…

In this paper, we propose the "Kinetics Observer", a novel estimator addressing the challenge of state estimation for legged robots using proprioceptive sensors (encoders, IMU and force/torque sensors). Based on a Multiplicative Extended…

Radar ensures robust sensing capabilities in adverse weather conditions, yet challenges remain due to its high inherent noise level. Existing radar odometry has overcome these challenges with strategies such as filtering spurious points,…

Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. In such scenarios, accurate odometry estimation is a…

Legged robots can traverse a wide variety of terrains, some of which may be challenging for wheeled robots, such as stairs or highly uneven surfaces. However, quadruped robots face stability challenges on slippery surfaces. This can be…

Robust and accurate proprioceptive state estimation of the main body is crucial for legged robots to execute tasks in extreme environments where exteroceptive sensors, such as LiDARs and cameras, may become unreliable. In this paper, we…

Localization of robots using subsurface features observed by ground-penetrating radar (GPR) enhances and adds robustness to common sensor modalities, as subsurface features are less affected by weather, seasons, and surface changes. We…

In this paper, we present a factor-graph LiDAR-SLAM system which incorporates a state-of-the-art deeply learned feature-based loop closure detector to enable a legged robot to localize and map in industrial environments. These facilities…

Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…

Fast and versatile locomotion can be achieved with wheeled quadruped robots that drive quickly on flat terrain, but are also able to overcome challenging terrain by adapting their body pose and by making steps. In this paper, we present a…

Controlling Wheeled-legged robots is challenging especially on slippery surfaces due to their dependence on continuous ground contact. Unlike quadrupeds or bipeds, which can leverage multiple fixed contact points for recovery,…