3 papers
cs.RO2025
Hybrid Data-Driven Predictive Control for Robust and Reactive Exoskeleton Locomotion Synthesis
Kejun Li, Jeeseop Kim, Maxime Brunet +3
Robust bipedal locomotion in exoskeletons requires the ability to dynamically react to changes in the environment in real time. This paper introduces the hybrid data-driven predict…
cs.RO2025
Leg Exoskeleton Odometry using a Limited FOV Depth Sensor
Fabio Elnecave Xavier, Matis Viozelange, Guillaume Burger +3
For leg exoskeletons to operate effectively in real-world environments, they must be able to perceive and understand the terrain around them. However, unlike other legged robots, e…
cs.RO2023
Multi-IMU Proprioceptive State Estimator for Humanoid Robots
Fabio Elnecave Xavier, Guillaume Burger, Marine Pétriaux +2
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is…