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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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09/19/2018
Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway
The Cassie bipedal robot designed by Agility Robotics is providing acade...
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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
