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07/05/2023
Stair Climbing using the Angular Momentum Linear Inverted Pendulum Model and Model Predictive Control
A new control paradigm using angular momentum and foot placement as stat...
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03/07/2023
Exploring Kinodynamic Fabrics for Reactive Whole-Body Control of Underactuated Humanoid Robots
For bipedal humanoid robots to successfully operate in the real world, t...
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01/05/2023
Realtime Safety Control for Bipedal Robots to Avoid Multiple Obstacles via CLF-CBF Constraints
This paper presents a reactive planning system that allows a Cassie-seri...
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07/07/2022
Energy-based Legged Robots Terrain Traversability Modeling via Deep Inverse Reinforcement Learning
This work reports on developing a deep inverse reinforcement learning me...
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05/30/2022
Informable Multi-Objective and Multi-Directional RRT* System for Robot Path Planning
Multi-objective or multi-destination path planning is crucial for mobile...
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09/02/2021
Optimal Target Shape for LiDAR Pose Estimation
Targets are essential in problems such as object tracking in cluttered o...
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08/15/2021
Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain
We propose and experimentally demonstrate a reactive planning system for...
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06/28/2021
Multi-Task Learning for Scalable and Dense Multi-Layer Bayesian Map Inference
This paper presents a novel and flexible multi-task multi-layer Bayesian...
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03/26/2021
Toward Safety-Aware Informative Motion Planning for Legged Robots
This paper reports on developing an integrated framework for safety-awar...
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12/06/2020
Global Unifying Intrinsic Calibration for Spinning and Solid-State LiDARs
Sensor calibration, which can be intrinsic or extrinsic, is an essential...
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10/07/2019
Improvements to Target-Based 3D LiDAR to Camera Calibration
The homogeneous transformation between a LiDAR and monocular camera is r...
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10/01/2019
Adaptive Continuous Visual Odometry from RGB-D Images
In this paper, we extend the recently developed continuous visual odomet...
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09/10/2019
Bayesian Spatial Kernel Smoothing for ScalableDense Semantic Mapping
This paper develops a Bayesian continuous 3D semantic occupancy map from...
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08/23/2019
LiDARTag: A Real-Time Fiducial Tag using Point Clouds
Image-based fiducial markers are widely used in robotics and computer vi...
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04/19/2019
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation
Legged robots require knowledge of pose and velocity in order to maintai...
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04/03/2019
Continuous Direct Sparse Visual Odometry from RGB-D Images
This paper reports on a novel formulation and evaluation of visual odome...
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07/17/2018
Rapid Bipedal Gait Design Using C-FROST with Illustration on a Cassie-series Robot
One of the big attractions of low-dimensional models for gait design has...
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05/26/2018
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation
This paper derives a contact-aided inertial navigation observer for a 3D...
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03/20/2018
Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation within Factor Graphs
The factor graph framework is a convenient modeling technique for roboti...
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12/15/2017