2 papers
cs.RO2026
Multi-Momentum Observer Contact Estimation for Bipedal Robots
J. Joe Payne, Daniel A. Hagen, Denis GaragiÄ +1
As bipedal robots become more and more popular in commercial and industrial settings, the ability to control them with a high degree of reliability is critical. To that end, this p…
cs.RO2024
Hybrid Iterative Linear Quadratic Estimation: Optimal Estimation for Hybrid Systems
J. Joe Payne, James Zhu, Nathan J. Kong +1
In this paper we present Hybrid iterative Linear Quadratic Estimation (HiLQE), an optimization based offline state estimation algorithm for hybrid dynamical systems. We utilize the…