269 citations · 2k across the 61 of their papers we have counts for
8 papers · 1 filter
Robust Gaussian Filtering using a Pseudo Measurement
Manuel Wüthrich, Cristina Garcia Cifuentes, Sebastian Trimpe +4
Many sensors, such as range, sonar, radar, GPS and visual devices, produce measurements which are contaminated by outliers. This problem can be addressed by using fat-tailed sensor…
Humanoid Momentum Estimation Using Sensed Contact Wrenches
Nicholas Rotella, Alexander Herzog, Stefan Schaal +1
This work presents approaches for the estimation of quantities important for the control of the momentum of a humanoid robot. In contrast to previous approaches which use simplifie…
Trajectory generation for multi-contact momentum-control
Alexander Herzog, Nicholas Rotella, Stefan Schaal +1
Simplified models of the dynamics such as the linear inverted pendulum model (LIPM) have proven to perform well for biped walking on flat ground. However, for more complex tasks th…
The Coordinate Particle Filter - A novel Particle Filter for High Dimensional Systems
Manuel Wüthrich, Jeannette Bohg, Daniel Kappler +2
Parametric filters, such as the Extended Kalman Filter and the Unscented Kalman Filter, typically scale well with the dimensionality of the problem, but they are known to fail if t…
Probabilistic Object Tracking using a Range Camera
Manuel Wüthrich, Peter Pastor, Mrinal Kalakrishnan +2
We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compu…
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…