Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid
Surfaces

Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces

25 January 2022

Yuan Gao

Papers citing "Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces"

11 / 11 papers shown

Title
FLAM: Foundation Model-Based Body Stabilization for Humanoid Locomotion and Manipulation Xianqi Zhang Hongliang Wei Wenrui Wang Xingtao Wang Xiaopeng Fan Debin Zhao 34 0 0 28 Mar 2025
An Adaptive Framework for Manipulator Skill Reproduction in Dynamic Environments Ryan Donald Brendan Hertel Stephen Misenti Yan Gu Reza Azadeh 19 1 0 24 May 2024
HT-LIP Model based Robust Control of Quadrupedal Robot Locomotion under Unknown Vertical Ground Motion Amir Iqbal Sushant Veer Christopher Niezrecki Yan Gu 23 1 0 24 Mar 2024
Legged Robot State Estimation within Non-inertial Environments Zijian He Sangli Teng Tzu-Yuan Lin Maani Ghaffari Yan Gu 19 4 0 24 Mar 2024
Proprioceptive Invariant Robot State Estimation Tzu-Yuan Lin Ting-Ting Li Wenzhe Tong Maani Ghaffari 30 8 0 07 Nov 2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems Nathan J. Kong J. Joe Payne James Zhu Aaron M. Johnson 14 16 0 12 Jun 2023
Real-World Humanoid Locomotion with Reinforcement Learning Ilija Radosavovic Tete Xiao Bike Zhang Trevor Darrell Jitendra Malik K. Sreenath 21 120 0 06 Mar 2023
Real-Time Walking Pattern Generation of Quadrupedal Dynamic-Surface Locomotion based on a Linear Time-Varying Pendulum Model A. Iqbal Sushant Veer Yan Gu 17 1 0 08 Jan 2023
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface Yuan Gao Yukai Gong Victor Paredes Ayonga Hereid Yan Gu 8 13 0 24 Oct 2022
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer Xihang Yu Sangli Teng Theodor Chakhachiro W. Tong Ting-Ting Li Tzu-Yuan Lin S. Koehler Manuel Ahumada Jeffrey M. Walls Maani Ghaffari 26 13 0 29 Sep 2022
Data-driven Adaptation for Robust Bipedal Locomotion with Step-to-Step Dynamics Min Dai Xiaobin Xiong Jaemin Lee Aaron D. Ames 25 9 0 18 Sep 2022