English (United Kingdom)

https://curated-unify.zendy.io/wp-json/zendy-region/v1/featured_content/oa?rat=en

https://curated-unify.zendy.io/wp-json/zendy-region/v1/highlighted_journal/

Global: Zendy Plus annual

Presents the access of premium content as premium feature

Premium Content

Presents the keyphrase highlighting as premium feature

Keyphrase Highlighting

Presents the summarisation as premium feature

Summarisation

Insights

Presents the pdf analysis as premium feature

PDF Analysis

Presents the zaia usage as premium feature

ZAIA

Global: Zendy Plus monthly

Global: Zendy Tools annual

Global: Zendy Tools monthly

Global: Zendy Free Plan

This paper presents a contact-aided inertial-kinematic floating baseestimation for humanoid robots considering an evolution of the state andobservations over matrix Lie groups. This is achieved through the applicationof a geometrically meaningful estimator which is characterized by concentratedGaussian distributions. The configuration of a floating base system like ahumanoid robot usually requires the knowledge of an additional six degrees offreedom which describes its base position-and-orientation. This quantityusually cannot be measured and needs to be estimated. A matrix Lie group,encapsulating the position-and-orientation and linear velocity of the baselink, feet positions-and-orientations and Inertial Measurement Units' biases,is used to represent the state while relative positions-and-orientations ofcontact feet from forward kinematics are used as observations. The proposedestimator exhibits fast convergence for large initialization errors owing tochoice of uncertainty parametrization. An experimental validation is done onthe iCub humanoid platform.

DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups