25 citations
- National Institute of Advanced Industrial Science and TechnologyJP3 papers
- Centre National de la Recherche ScientifiqueFR2 papers
- CentraleSupélecFR1 paper
- Groupe d’Étude de la Matière CondenséeFR1 paper
- Laboratoire d'Informatique, de Robotique et de Microélectronique de MontpellierFR1 paper
- Laboratoire d'Ingénierie des Systèmes de VersaillesFR1 paper
- Université de MontpellierFR1 paper
- Université Paris-SaclayFR1 paper
- University of TsukubaJP1 paper
3 papers
cs.RO2021★ 25 cited
On Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts
Yuquan Wang, Niels Dehio, Abderrahmane Kheddar
State-of-the-art impact dynamics models either apply for free-flying objects or do not account that a robotic manipulator is commonly high-stiffness controlled. Thus, we lack tailo…
cs.CV2020★ 7 cited
Rapid Pose Label Generation through Sparse Representation of Unknown Objects
Rohan Pratap Singh, Mehdi Benallegue, Yusuke Yoshiyasu +1
Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a…
cs.RO2020★ 12 cited
Lyapunov-Stable Orientation Estimator for Humanoid Robots
Mehdi Benallegue, Rafael Cisneros, Abdelaziz Benallegue +3
In this paper, we present an observation scheme, with proven Lyapunov stability, for estimating a humanoid's floating base orientation. The idea is to use velocity aided attitude e…