39 citations · 40 across the 2 of their papers we have counts for
4 papers
Unsupervised Contact Learning for Humanoid Estimation and Control
Nicholas Rotella, Stefan Schaal, Ludovic Righetti
This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts. The data required for trai…
Balancing and Walking Using Full Dynamics LQR Control With Contact Constraints
Sean Mason, Nicholas Rotella, Stefan Schaal +1
Torque control algorithms which consider robot dynamics and contact constraints are important for creating dynamic behaviors for humanoids. As computational power increases, algori…
Inertial Sensor-Based Humanoid Joint State Estimation
Nicholas Rotella, Sean Mason, Stefan Schaal +1
This work presents methods for the determination of a humanoid robot's joint velocities and accelerations directly from link-mounted Inertial Measurement Units (IMUs) each containi…
Probabilistic Depth Image Registration incorporating Nonvisual Information
Manuel Wüthrich, Peter Pastor, Ludovic Righetti +2
In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information a…