1 citations · 1 across the 3 of their papers we have counts for
Showing cs.ROShow all
3 papers · 1 filter
cs.RO2025
Multi-IMU Sensor Fusion for Legged Robots
Shuo Yang, Zixin Zhang, John Z. Zhang +2
This paper presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation un…
cs.RO2024
Robots with Attitude: Singularity-Free Quaternion-Based Model-Predictive Control for Agile Legged Robots
Zixin Zhang, John Z. Zhang, Shuo Yang +1
We present a model-predictive control (MPC) framework for legged robots that avoids the singularities associated with common three-parameter attitude representations like Euler ang…
cs.RO2022★ 1 cited
Cerberus: Low-Drift Visual-Inertial-Leg Odometry For Agile Locomotion
Shuo Yang, Zixin Zhang, Zhengyu Fu +1
We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution, Cerberus, for legged robots that estimates position precisely on various terrains in real t…