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cs.RO2024
Multi-Contact Inertial Parameters Estimation and Localization in Legged Robots
Sergi Martinez, Robert J. Griffin, Carlos Mastalli
Optimal estimation is a promising tool for estimation of payloads' inertial parameters and localization of robots in the presence of multiple contacts. To harness its advantages in…
cs.RO2024
Morphological Symmetries in Robotics
Daniel Ordoñez-Apraez, Giulio Turrisi, Vladimir Kostic +6
We present a comprehensive framework for studying and leveraging morphological symmetries in robotic systems. These are intrinsic properties of the robot's morphology, frequently o…