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Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events
Conference on Robot Learning (CoRL), 2021
29 June 2021
Tzu-Yuan Lin
Ray Zhang
Justin Yu
Maani Ghaffari
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Papers citing
"Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events"
31 / 31 papers shown
Proprioceptive Image: An Image Representation of Proprioceptive Data from Quadruped Robots for Contact Estimation Learning
G. Abati
J. C. V. Soares
Giulio Turrisi
Victor Barasuol
Claudio Semini
3DH
186
0
0
27 Mar 2026
InEKFormer: A Hybrid State Estimator for Humanoid Robots
Lasse Hohmeyer
Mihaela Popescu
Ivan Bergonzani
Dennis Mronga
Frank Kirchner
108
1
0
20 Nov 2025
Adaptive Invariant Extended Kalman Filter for Legged Robot State Estimation
Kyung-Hwan Kim
DongHyun Ahn
Dong-hyun Lee
JuYoung Yoon
Dong Jin Hyun
111
2
0
19 Oct 2025
MARG: MAstering Risky Gap Terrains for Legged Robots with Elevation Mapping
IEEE Transactions on robotics (IEEE TRO), 2025
Yinzhao Dong
Ji Ma
Liu Zhao
Wanyue Li
Peng Lu
309
6
0
24 Sep 2025
Noise Analysis and Hierarchical Adaptive Body State Estimator For Biped Robot Walking With ESVC Foot
IEEE Sensors Journal (IEEE Sens. J.), 2025
B. Chen
Xizhe Zang
Chao Song
Yue Zhang
Xuehe Zhang
Jie Zhao
131
0
0
10 Jun 2025
Debiasing 6-DOF IMU via Hierarchical Learning of Continuous Bias Dynamics
Ben Liu
Tzu-Yuan Lin
Wei Zhang
Maani Ghaffari
401
3
0
13 Apr 2025
DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs
Yibin Wu
Jian Kuang
Shahram Khorshidi
X. Niu
L. Klingbeil
Maren Bennewitz
H. Kuhlmann
348
3
0
06 Mar 2025
Legged Robot State Estimation Using Invariant Neural-Augmented Kalman Filter with a Neural Compensator
Seokju Lee
Hyun-Bin Kim
Kyung-soo Kim
395
3
0
01 Mar 2025
MOVE: Multi-skill Omnidirectional Legged Locomotion with Limited View in 3D Environments
IEEE International Conference on Robotics and Automation (ICRA), 2024
Songbo Li
Shixin Luo
Jun Wu
Qiuguo Zhu
267
7
0
04 Dec 2024
Robust State Estimation for Legged Robots with Dual Beta Kalman Filter
IEEE Robotics and Automation Letters (RA-L), 2024
Tianyi Zhang
Wenhan Cao
Chang Liu
Tao Zhang
Jiajun Li
Shengbo Eben Li
366
4
0
18 Nov 2024
A Data-driven Contact Estimation Method for Wheeled-Biped Robots
IEEE International Conference on Robotics and Automation (ICRA), 2024
Ü. Bora Gökbakan
Frederike Dümbgen
Stéphane Caron
410
1
0
16 Oct 2024
Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2024
Hilton Marques Souza Santana
João Carlos Virgolino Soares
Ylenia Nisticò
M. Meggiolaro
Claudio Semini
235
3
0
07 Oct 2024
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
Arnaud Demont
M. Benallegue
Abdelaziz Benallegue
P. Gergondet
Antonin Dallard
Rafael Cisneros
Masaki Murooka
F. Kanehiro
268
3
0
19 Jun 2024
Quadruped robot traversing 3D complex environments with limited perception
Yi Cheng
Hang Liu
Guoping Pan
Linqi Ye
Houde Liu
Bin Liang
392
24
0
28 Apr 2024
Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering
European Control Conference (ECC), 2024
Marcel Menner
K. Berntorp
243
8
0
04 Apr 2024
Morphological Symmetries in Robotics
Daniel Felipe Ordoñez Apraez
Giulio Turrisi
Vladimir Kostic
Mario Martin
Antonio Agudo
Francesc Moreno-Noguer
Massimiliano Pontil
Claudio Semini
Carlos Mastalli
AI4CE
479
21
0
23 Feb 2024
MOB-Net: Limb-modularized Uncertainty Torque Learning of Humanoids for Sensorless External Torque Estimation
Daegyu Lim
Myeong-Ju Kim
Junhyeok Cha
Jaeheung Park
471
4
0
17 Feb 2024
Legged Robot State Estimation With Invariant Extended Kalman Filter Using Neural Measurement Network
D. Youm
Hyunsik Oh
Suyoung Choi
Hyeongjun Kim
Jemin Hwangbo
314
14
0
01 Feb 2024
Proprioceptive Invariant Robot State Estimation
Tzu-Yuan Lin
Ting-Ting Li
Wenzhe Tong
Maani Ghaffari
418
14
0
07 Nov 2023
Lie Neurons: Adjoint-Equivariant Neural Networks for Semisimple Lie Algebras
International Conference on Machine Learning (ICML), 2023
Tzu-Yuan Lin
Minghan Zhu
Maani Ghaffari
521
5
0
06 Oct 2023
Two-layer adaptive trajectory tracking controller for quadruped robots on slippery terrains
IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2023
Despina Ekaterini Argiropoulos
Dimitrios Papageorgiou
Michael Maravgakis
Drosakis Drosakis
P. Trahanias
114
4
0
03 Apr 2023
Probabilistic Contact State Estimation for Legged Robots using Inertial Information
IEEE International Conference on Robotics and Automation (ICRA), 2023
Michael Maravgakis
Despina Ekaterini Argiropoulos
Stylianos Piperakis
P. Trahanias
207
26
0
01 Mar 2023
On discrete symmetries of robotics systems: A group-theoretic and data-driven analysis
Daniel Felipe Ordoñez Apraez
Mario Martin
Antonio Agudo
Francesc Moreno-Noguer
AI4CE
353
13
0
21 Feb 2023
Robust and Versatile Bipedal Jumping Control through Reinforcement Learning
Zhongyu Li
Xue Bin Peng
Pieter Abbeel
Sergey Levine
Glen Berseth
Koushil Sreenath
260
73
0
19 Feb 2023
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Xihang Yu
Sangli Teng
Theodor Chakhachiro
W. Tong
Ting-Ting Li
Tzu-Yuan Lin
S. Koehler
Manuel Ahumada
Jeffrey M. Walls
Maani Ghaffari
342
19
0
29 Sep 2022
Robust Contact State Estimation in Humanoid Walking Gaits
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Stylianos Piperakis
Michael Maravgakis
Dimitrios Kanoulas
P. Trahanias
297
8
0
30 Jul 2022
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning
IEEE Robotics and Automation Letters (RA-L), 2022
Lu Gan
J. Grizzle
Ryan Eustice
Maani Ghaffari
248
36
0
07 Jul 2022
Lie Algebraic Cost Function Design for Control on Lie Groups
IEEE Conference on Decision and Control (CDC), 2022
Sangli Teng
William Clark
Anthony N. Bloch
Ram Vasudevan
Maani Ghaffari
180
37
0
20 Apr 2022
An Error-State Model Predictive Control on Connected Matrix Lie Groups for Legged Robot Control
IEEE/RJS International Conference on Intelligent RObots and Systems (IROS), 2022
Sangli Teng
Di Chen
William Clark
Maani Ghaffari
355
42
0
16 Mar 2022
On the Use of Torque Measurement in Centroidal State Estimation
IEEE International Conference on Robotics and Automation (ICRA), 2022
Shahram Khorshidi
Ahmad Gazar
Nicholas Rotella
M. Naveau
Ludovic Righetti
Maren Bennewitz
Majid Khadiv
340
4
0
25 Feb 2022
VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots
IEEE Transactions on robotics (TRO), 2021
David Wisth
Marco Camurri
Maurice F. Fallon
518
174
0
15 Jul 2021
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