output
20182021
most citedOn Inverse Inertia Matrix and Contact-Force Model for Robotic Manipulators at Normal Impacts

25 citations

researchers with a paper here

Counting papers with at most 25 authors, so collaboration author lists do not stand in for the people here.

collaborating institutions
Showing 2020Show all

3 papers · 1 filter

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…

cs.RO2020★ 11 cited

Impact-Aware Task-Space Quadratic-Programming Control

Yuquan Wang, Niels Dehio, Arnaud Tanguy +1

Robots usually establish contacts at rigid surfaces with near-zero relative velocities. Otherwise, impact-induced energy propagates in the robot's linkage and may cause irreversibl…