2 code implementations • 26 May 2018 • Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice
On the basis of the theory of invariant observer design by Barrau and Bonnabel, and in particular, the Invariant EKF (InEKF), we show that the error dynamics of the point contact-inertial system follows a log-linear autonomous differential equation; hence, the observable state variables can be rendered convergent with a domain of attraction that is independent of the system's trajectory.
Robotics
1 code implementation • 19 Apr 2019 • Ross Hartley, Maani Ghaffari, Ryan M. Eustice, Jessy W. Grizzle
This filter combines contact-inertial dynamics with forward kinematic corrections to estimate pose and velocity along with all current contact points.
Robotics
1 code implementation • 19 Sep 2018 • Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy Grizzle
The Cassie bipedal robot designed by Agility Robotics is providing academics a common platform for sharing and comparing algorithms for locomotion, perception, and navigation.
Robotics Optimization and Control
1 code implementation • 17 Jul 2018 • Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle
One of the big attractions of low-dimensional models for gait design has been the ability to compute solutions rapidly, whereas one of their drawbacks has been the difficulty in mapping the solutions back to the target robot.
Robotics Systems and Control
no code implementations • 20 Mar 2018 • Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice
The factor graph framework is a convenient modeling technique for robotic state estimation where states are represented as nodes, and measurements are modeled as factors.
Robotics
no code implementations • 15 Dec 2017 • Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle
We introduce forward kinematic factors and preintegrated contact factors into a factor graph framework that can be incrementally solved in real-time.
Robotics