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cs.RO2026
Proprioceptive Invariant State Estimation for Humanoid Robots on Non-Inertial Ground
Falak Mandali, Zijian He, Yan Gu
This paper presents an invariant extended Kalman filtering (InEKF) approach for real-time state estimation of humanoid robots operating on non-inertial ground using only onboard pr…
cs.RO2024
Time-Varying Foot-Placement Control for Underactuated Humanoid Walking on Swaying Rigid Surfaces
Yuan Gao, Victor Paredes, Yukai Gong +3
Locomotion on dynamic rigid surface (i.e., rigid surface accelerating in an inertial frame) presents complex challenges for controller design, which are essential for deploying hum…
cs.RO2024
Legged Robot State Estimation within Non-inertial Environments
Zijian He, Sangli Teng, Tzu-Yuan Lin +2
This paper investigates the robot state estimation problem within a non-inertial environment. The proposed state estimation approach relaxes the common assumption of static ground…