65 citations · 398 across the 34 of their papers we have counts for
5 papers · 1 filter
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra +3
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. T…
On the Emergence of Whole-body Strategies from Humanoid Robot Push-recovery Learning
Diego Ferigo, Raffaello Camoriano, Paolo Maria Viceconte +4
Balancing and push-recovery are essential capabilities enabling humanoid robots to solve complex locomotion tasks. In this context, classical control systems tend to be based on si…
A RoboStack Tutorial: Using the Robot Operating System Alongside the Conda and Jupyter Data Science Ecosystems
Tobias Fischer, Wolf Vollprecht, Silvio Traversaro +3
We argue that it is beneficial to tightly couple the widely-used Robot Operating System with Conda, a cross-platform, language-agnostic package manager, and Jupyter, a web-based in…
A Plenum-Based Calibration Device for Tactile Sensor Arrays
Joan Kangro, Anand Vazhapilli Sureshbabu, Silvio Traversaro +2
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent…
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello +8
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a rob…