2 papers
cs.RO2023
Probabilistic Contact State Estimation for Legged Robots using Inertial Information
Michael Maravgakis, Despina-Ekaterini Argiropoulos, Stylianos Piperakis +1
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground.…
cs.RO2022
Robust Contact State Estimation in Humanoid Walking Gaits
Stylianos Piperakis, Michael Maravgakis, Dimitrios Kanoulas +1
In this article, we propose a deep learning framework that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation acco…