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

Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Francisco Javier Andrade Chavez, Silvio Traversaro, Daniele Pucci

2021 International Conference on Robotics and Automation (ICRA)

Usage | Paper | arXiv | Video Presentation

Usage

Please see matlab/README.md for an overview of the software implementation.

Citing this work

If you find the work useful, please consider citing our publication:

@INPROCEEDINGS{9561248,
  author={Ramadoss, Prashanth and Romualdi, Giulio and Dafarra, Stefano and Andrade Chavez, Francisco Javier and Traversaro, Silvio and Pucci, Daniele},
  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
  title={DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups},
  year={2021},
  volume={},
  number={},
  pages={2904-2910},
  doi={10.1109/ICRA48506.2021.9561248}}

Maintainer

This repository is maintained by:

	Prashanth Ramadoss