相关论文: Preintegrated Velocity Bias Estimation to Overcome…

This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containing a three-axis gyroscope and a three-axis accelerometer. No…

This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and intermittent faults. Leveraging a 1D convolutional neural…

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…

For leg exoskeletons to operate effectively in real-world environments, they must be able to perceive and understand the terrain around them. However, unlike other legged robots, exoskeletons face specific constraints on where depth sensors…

Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on…

In this paper, we present a novel tightly-coupled probabilistic monocular visual-odometric Simultaneous Localization and Mapping algorithm using wheels and a MEMS gyroscope, which can provide accurate, robust and long-term localization for…

This study focuses on the locomotion capability improvement in a tendon-driven soft quadruped robot through an online adaptive learning approach. Leveraging the inverse kinematics model of the soft quadruped robot, we employ a central…

This paper presents a method that leverages vehicle motion constraints to refine data associations in a point-based radar odometry system. By using the strong prior on how a non-holonomic robot is constrained to move smoothly through its…

Enabling robot autonomy in complex environments for mission critical application requires robust state estimation. Particularly under conditions where the exteroceptive sensors, which the navigation depends on, can be degraded by…

This paper addresses the problem of accurate localization for quadrupedal robots operating in narrow tunnel-like environments. Due to the long and homogeneous characteristics of such scenarios, LiDAR measurements often provide weak…

In this paper, WALK-VIO, a novel visual-inertial odometry (VIO) with walking-motion-adaptive leg kinematic constraints that change with body motion for localization of quadruped robots, is proposed. Quadruped robots primarily use VIO…

Quadrupedal locomotion over complex terrain has been a long-standing research topic in robotics. While recent reinforcement learning-based locomotion methods improve generalizability and foot-placement precision, they rely on implicit…

Learning-based inertial odometry has achieved remarkable progress in pedestrian navigation. However, extending these methods to quadruped robots remains challenging due to their distinct and highly dynamic motion patterns. Models that…

In this paper, we introduce dynamics factor graphs as a graphical framework to solve dynamics problems and kinodynamic motion planning problems with full consideration of whole-body dynamics and contacts. A factor graph representation of…

We present a footstep planning policy for quadrupedal locomotion that is able to directly take into consideration a-priori safety information in its decisions. At its core, a learning process analyzes terrain patches, classifying each…

This paper presents GeoFlow-SLAM, a robust and effective Tightly-Coupled RGBD-inertial SLAM for legged robotics undergoing aggressive and high-frequency motions.By integrating geometric consistency, legged odometry constraints, and…

Tensegrity robots, characterized by a synergistic assembly of rigid rods and elastic cables, form robust structures that are resistant to impacts. However, this design introduces complexities in kinematics and dynamics, complicating control…

This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…

Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during interactions. Providing accurate estimation of pose and…

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…