am Thumb sm nick
Nick Rotella
Ph.D. Student
am Thumb sm herzog medium
Alexander Herzog
Ph.D. Student
am Thumb sm righetti
Ludovic Righetti
Max Planck Research Group Leader
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Stefan Schaal
Director
2 results

2015


Humanoid Momentum Estimation Using Sensed Contact Wrenches

Rotella, N., Herzog, A., Schaal, S., Righetti, L.

Proceedings of the 2015 IEEE-RAS International Conference on Humanoid Robots, 2015 (conference)

Project Page [BibTex]

2015

Project Page [BibTex]

2014


State Estimation for a Humanoid Robot

Rotella, N., Bloesch, M., Righetti, L., Schaal, S.

In Proceedings of the 2014 IEEE/RSJ Conference on Intelligent Robots and Systems, pages: 952-958, Chicago, IL, 2014 (inproceedings)

Abstract
This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work on a point-foot quadruped platform by adding the rotational constraints imposed by the humanoidâ??s flat feet. As in previous work, the proposed Extended Kalman Filter accommodates contact switching and makes no assumptions about gait or terrain, making it applicable on any humanoid platform for use in any task. A nonlinear observability analysis is performed on both the point-foot and flat-foot filters and it is concluded that the addition of rotational constraints significantly simplifies singular cases and improves the observability characteristics of the system. Results on a simulated walking dataset demonstrate the performance gain of the flat-foot filter as well as confirm the results of the presented observability analysis.

PDF link (url) Project Page [BibTex]

2014

PDF link (url) Project Page [BibTex]