5 papers
DASH Robot: Minimalistic Design and Optimal Aerial-Terrestrial Locomotion via Contact-Implicit Control
Ryan Gomes Paiva, Conrad Ho, Jiarong Kang +3
We present a novel and minimalistic design of an aerial-terrestrial robot DASH: Ducted Aerial Spring Hopper. The goal is to enable both aerial and ground locomotion capabilities on…
PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
Jiarong Kang, Kunzhao Ren, Tao Pang +1
Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamic…
Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
Denglin Cheng, Jiarong Kang, Xiaobin Xiong
Accurate state estimation is critical for legged and aerial robots operating in dynamic, uncertain environments. A key challenge lies in specifying process and measurement noise co…
Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
Jiarong Kang, Xiaobin Xiong
Accurate ground reaction force (GRF) estimation can significantly improve the adaptability of legged robots in various real-world applications. For instance, with estimated GRF and…
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
Jiarong Kang, Yi Wang, Xiaobin Xiong
In this paper, we present a fast and decentralized state estimation framework for the control of legged locomotion. The nonlinear estimation of the floating base states is decentra…