65 citations · 182 across the 25 of their papers we have counts for
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cs.RO2021
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra +3
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. T…
cs.RO2021★ 9 cited
Modeling of Visco-Elastic Environments for Humanoid Robot Motion Control
Giulio Romualdi, Stefano Dafarra, Daniele Pucci
This manuscript presents a model of compliant contacts for time-critical humanoid robot motion control. The proposed model considers the environment as a continuum of spring-damper…