Name
Title | ||
|---|---|---|
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots. |
Abstract | ||
|---|---|---|
Reliable state estimation is crucial for stable planning and control of legged locomotion. A fundamental component of a state estimator in legged platforms is Leg Odometry, which only requires information about kinematics and contacts. Many legged robots use dedicated sensors on each foot to detect ground contacts. However, this choice is impractical for many agile legged robots in field operation... |
Year | DOI | Venue |
|---|---|---|
2017 | 10.1109/LRA.2017.2652491 | IEEE Robotics and Automation Letters |
Keywords | Field | DocType |
Legged locomotion,Robot sensing systems,Foot,Estimation,Robot kinematics | Robot control,Kinematics,Gait,Internal forces,Simulation,Control theory,Odometry,Control engineering,Robot locomotion,Engineering,Probabilistic logic,Robot | Journal |
Volume | Issue | ISSN |
2 | 2 | 2377-3766 |
Citations | PageRank | References |
4 | 0.42 | 15 |
Authors | ||
7 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Marco Camurri | 1 | 13 | 6.05 |
| Maurice F. Fallon | 2 | 588 | 37.73 |
| Stéphane Bazeille | 3 | 68 | 6.98 |
| Andreea Radulescu | 4 | 19 | 3.61 |
| Victor Barasuol | 5 | 88 | 11.21 |
| Darwin G. Caldwell | 6 | 39 | 5.43 |
| Claudio Semini | 7 | 6 | 1.47 |