相关论文: Tensegrity Robot Proprioceptive State Estimation w…

We propose a state estimation method that can accurately predict the robot's privileged states to push the limits of quadruped robots in executing advanced skills such as jumping in the wild. In particular, we present the State Estimation…

The present paper is concerned with the formulation of new assembly methods of bi-material tensegrity prisms, and the experimental characterization of the compressive response of such structures. The presented assembly techniques are easy…

Relative localization is critical for cooperation in autonomous multi-robot systems. Existing approaches either rely on shared environmental features or inertial assumptions or suffer from non-line-of-sight degradation and outliers in…

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…

Tendon-driven continuum robots have been gaining popularity in medical applications due to their ability to curve around complex anatomical structures, potentially reducing the invasiveness of surgery. However, accurate modeling is required…

This work demonstrates simultaneous pose (position and orientation) and shape estimation for a free-floating, bioinspired multi-link robot with unactuated joints, link-mounted thrusters for control, and a single gyroscope per link,…

Accurate state estimation plays a critical role in ensuring the robust control of humanoid robots, particularly in the context of learning-based control policies for legged robots. However, there is a notable gap in analytical research…

Learning policies in simulation is promising for reducing human effort when training robot controllers. This is especially true for soft robots that are more adaptive and safe but also more difficult to accurately model and control. 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…

Aligning a robot's trajectory or map to the inertial frame is a critical capability that is often difficult to do accurately even though inertial measurement units (IMUs) can observe absolute roll and pitch with respect to gravity.…

Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…

In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cable in a method inspired by muscular actuation…

In this paper, we propose a locomotion training framework where a control policy and a state estimator are trained concurrently. The framework consists of a policy network which outputs the desired joint positions and a state estimation…

This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU,…

We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution, Cerberus, for legged robots that estimates position precisely on various terrains in real time using a set of standard sensors, including stereo…

The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…

As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…

In recent years, semidefinite relaxations of common optimization problems in robotics have attracted growing attention due to their ability to provide globally optimal solutions. In many cases, it was shown that specific handcrafted…

This paper addresses accurate pose estimation (position, velocity, and orientation) for a rigid body using a combination of generic inertial-frame and/or body-frame measurements along with an Inertial Measurement Unit (IMU). By embedding…

We propose a novel state estimator for legged robots, STEP, achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-slip assumption is not adopted. Instead, the end effector…