21 citations · 24 across the 5 of their papers we have counts for
3 papers · 1 filter
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…