5 citations · 22 across the 42 of their papers we have counts for
4 papers · 2 filters
Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion
Victor Dhédin, Haolong Li, Shahram Khorshidi +8
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art appr…
Nonlinear Stochastic Trajectory Optimization for Centroidal Momentum Motion Generation of Legged Robots
Ahmad Gazar, Majid Khadiv, Sébastien Kleff +2
Generation of robust trajectories for legged robots remains a challenging task due to the underlying nonlinear, hybrid and intrinsically unstable dynamics which needs to be stabili…
On the Use of Torque Measurement in Centroidal State Estimation
Shahram Khorshidi, Ahmad Gazar, Nicholas Rotella +4
State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint…
BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning
Avadesh Meduri, Paarth Shah, Julian Viereck +3
Online planning of whole-body motions for legged robots is challenging due to the inherent nonlinearity in the robot dynamics. In this work, we propose a nonlinear MPC framework, t…