21 citations · 24 across the 5 of their papers we have counts for
5 papers
State Estimation for Human Motion and Humanoid Locomotion
Prashanth Ramadoss
The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. T…
Whole-Body Human Kinematics Estimation using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter
Prashanth Ramadoss, Lorenzo Rapetti, Yeshasvi Tirupachuri +6
Full-body motion estimation of a human through wearable sensing technologies is challenging in the absence of position sensors. This paper contributes to the development of a model…
An Experimental Comparison of Floating Base Estimators for Humanoid Robots with Flat Feet
Prashanth Ramadoss, Stefano Dafarra, Silvio Traversaro +1
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) a…
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…
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
Giulio Romualdi, Stefano Dafarra, Yue Hu +4
This paper contributes towards the benchmarking of control architectures for bipedal robot locomotion. It considers architectures that are based on the Divergent Component of Motio…