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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…