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cs.RO2016
On the Fundamental Importance of Gauss-Newton in Motion Optimization
Nathan Ratliff, Marc Toussaint, Jeannette Bohg +1
Hessian information speeds convergence substantially in motion optimization. The better the Hessian approximation the better the convergence. But how good is a given approximation…
cs.RO2016
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…