3 papers
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains
Despina-Ekaterini Argiropoulos, Dimitrios Papageorgiou, Michael Maravgakis +2
Task space trajectory tracking for quadruped robots plays a crucial role on achieving dexterous maneuvers in unstructured environments. To fulfill the control objective, the robot…
Probabilistic Contact State Estimation for Legged Robots using Inertial Information
Michael Maravgakis, Despina-Ekaterini Argiropoulos, Stylianos Piperakis +1
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground.…
Robust Contact State Estimation in Humanoid Walking Gaits
Stylianos Piperakis, Michael Maravgakis, Dimitrios Kanoulas +1
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation acco…