4 papers · 1 filter
Contact-Constrained Lower-Limb Joint-Offset Calibration for Humanoid Robots
Kaixiang Lu, Haiyu Lan, Chunxiao Qiao +5
Accurate joint encoder offsets are essential for kinematic consistency in humanoid lower limbs, yet existing calibration methods typically require external motion-capture systems o…
FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive Odometry
Kaixin Feng, Angsong Li, Shaopeng Zhang +5
Foot forward kinematics (FK) is widely used to improve proprioceptive legged odometry by providing reliable velocity constraints during foot support. Existing contact-aided estimat…
WinTA-GIL: Windowed Trajectory Alignment for GNSS-IMU-LiDAR Heading Refinement in Intermittent Signal Environments
Kaixin Feng, Zhichao Wen, Zhaohong Liao +2
Although multi-source fusion positioning systems have achieved significant progress, accurate and reliable heading estimation remains a critical challenge due to the lack of gravit…
A Real-time Degeneracy Sensing and Compensation Method for Enhanced LiDAR SLAM
Zongbo Liao, Xuanxuan Zhang, Tianxiang Zhang +4
LiDAR is widely used in Simultaneous Localization and Mapping (SLAM) and autonomous driving. The LiDAR odometry is of great importance in multi-sensor fusion. However, in some unst…