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05/31/2021
DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
This paper presents a contact-aided inertial-kinematic floating base est...
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11/27/2019
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
This paper contributes towards the benchmarking of control architectures...
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09/23/2019
Online DCM Trajectory Generation for Push Recovery of Torque-Controlled Humanoid Robots
We present a computationally efficient method for online planning of bip...
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09/22/2019
Whole-Body Geometric Retargeting for Humanoid Robots
Humanoid robot teleoperation allows humans to integrate their cognitive ...
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07/27/2019
Jerk Control of Floating Base Systems with Contact-Stable Parametrised Force Feedback
Nonlinear controllers for floating base systems in contact with the envi...
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12/03/2018
