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20192022
most citedA Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots

21 citations · 24 across the 5 of their papers we have counts for

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Showing 2021Show all

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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…