Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

29 June 2021

Papers citing "Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events"

25 / 25 papers shown

Title
Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics Ben Liu Tzu-Yuan Lin Wei Zhang Maani Ghaffari 30 0 0 13 Apr 2025
DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs Yibin Wu Jian Kuang Shahram Khorshidi X. Niu L. Klingbeil Maren Bennewitz H. Kuhlmann 58 0 0 06 Mar 2025
Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator Seokju Lee Hyun-Bin Kim Kyung-soo Kim 33 0 0 01 Mar 2025
Robust State Estimation for Legged Robots with Dual Beta Kalman Filter Tianyi Zhang Wenhan Cao Chang Liu Tao Zhang Jiajun Li Shengbo Eben Li 74 0 0 18 Nov 2024
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions Hilton Marques Souza Santana João Carlos Virgolino Soares Ylenia Nisticò M. Meggiolaro Claudio Semini 33 3 0 07 Oct 2024
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots Arnaud Demont M. Benallegue Abdelaziz Benallegue P. Gergondet Antonin Dallard Rafael Cisneros Masaki Murooka F. Kanehiro 39 0 0 19 Jun 2024
Quadruped robot traversing 3D complex environments with limited perception Yi Cheng Hang Liu Guoping Pan Linqi Ye Houde Liu Bin Liang 40 7 0 28 Apr 2024
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering Marcel Menner K. Berntorp 28 4 0 04 Apr 2024
Morphological Symmetries in Robotics Daniel Felipe Ordoñez Apraez Giulio Turrisi Vladimir Kostic Mario Martin Antonio Agudo Francesc Moreno-Noguer Massimiliano Pontil Claudio Semini Carlos Mastalli AI4CE 37 6 0 23 Feb 2024
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation Daegyu Lim Myeong-Ju Kim Junhyeok Cha Jaeheung Park 37 1 0 17 Feb 2024
Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network D. Youm Hyunsik Oh Suyoung Choi Hyeongjun Kim Jemin Hwangbo 29 4 0 01 Feb 2024
Proprioceptive Invariant Robot State Estimation Tzu-Yuan Lin Ting-Ting Li Wenzhe Tong Maani Ghaffari 49 8 0 07 Nov 2023
Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras Tzu-Yuan Lin Minghan Zhu Maani Ghaffari 48 2 0 06 Oct 2023
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains Despina Ekaterini Argiropoulos Dimitrios Papageorgiou Michael Maravgakis Drosakis Drosakis P. Trahanias 24 2 0 03 Apr 2023
Probabilistic Contact State Estimation for Legged Robots using Inertial Information Michael Maravgakis Despina Ekaterini Argiropoulos Stylianos Piperakis P. Trahanias 29 15 0 01 Mar 2023
On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis Daniel Felipe Ordoñez Apraez Mario Martin Antonio Agudo Francesc Moreno-Noguer AI4CE 34 11 0 21 Feb 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning Zhongyu Li Xue Bin Peng Pieter Abbeel Sergey Levine Glen Berseth Koushil Sreenath 46 39 0 19 Feb 2023
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer Xihang Yu Sangli Teng Theodor Chakhachiro W. Tong Ting-Ting Li Tzu-Yuan Lin S. Koehler Manuel Ahumada Jeffrey M. Walls Maani Ghaffari 34 13 0 29 Sep 2022
Robust Contact State Estimation in Humanoid Walking Gaits Stylianos Piperakis Michael Maravgakis Dimitrios Kanoulas P. Trahanias 26 5 0 30 Jul 2022
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning Lu Gan J. Grizzle Ryan Eustice Maani Ghaffari 32 28 0 07 Jul 2022
Lie Algebraic Cost Function Design for Control on Lie Groups Sangli Teng William Clark Anthony N. Bloch Ram Vasudevan Maani Ghaffari 35 25 0 20 Apr 2022
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control Sangli Teng Di Chen William Clark Maani Ghaffari 35 28 0 16 Mar 2022
On the Use of Torque Measurement in Centroidal State Estimation Shahram Khorshidi Ahmad Gazar Nicholas Rotella M. Naveau Ludovic Righetti Maren Bennewitz Majid Khadiv 16 3 0 25 Feb 2022
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots David Wisth Marco Camurri Maurice F. Fallon 43 119 0 15 Jul 2021
ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Cameras Raul Mur-Artal Juan D. Tardós 204 5,375 0 20 Oct 2016