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This work presents a method for contact state estimation using fuzzy clustering to learn contact probability for full, six-dimensional humanoid contacts.
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M. Bloesch, M. Hutter, M. Hoepflinger, S. Leutenegger, C. Gehring, C. D. Remy, and R. Siegwart, “State estimation for legged robots - consistent fusion of leg kinematics and IMU,” in Proceedings of Robotics: Science and Systems , Sydney, Australia, July 2012
2012
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A. D. Prete, F. Nori, G. Metta, and L. Natale, “Control of contact forces: The role of tactile feedback for contact localization,” in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems , Oct 2012, pp. 4048–4053
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V. Barasuol, J. Buchli, C. Semini, M. Frigerio, E. R. D. Pieri, and D. G. Caldwell, “A reactive controller framework for quadrupedal locomotion on challenging terrain,” in 2013 IEEE International Conference on Robotics and Automation , May 2013, pp. 2554–2561
2013
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K. Masuya and T. Sugihara, “Dead reckoning of biped robots with estimated contact points based on the minimum velocity criterion,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems , Nov 2013, pp. 3637–3642
2013
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M. Bloesch, C. Gehring, P. Fankhauser, M. Hutter, M. A. Hoepflinger, and R. Siegwart, “State estimation for legged robots on unstable and slippery terrain,” in 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems , Nov 2013, pp. 6058–6064
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M. A. Hoepflinger, M. Hutter, C. Gehring, M. Bloesch, and R. Siegwart, “Unsupervised identification and prediction of foothold robustness,” in 2013 IEEE International Conference on Robotics and Automation , May 2013, pp. 3293–3298
2013
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M. F. Fallon, M. Antone, N. Roy, and S. Teller, “Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing,” in 2014 IEEE-RAS International Conference on Humanoid Robots , Nov 2014, pp. 112–119
G. Wiedebach, S. Bertrand, T. Wu, L. Fiorio, S. McCrory, R. Griffin, F. Nori, and J. Pratt, “Walking on partial footholds including line contacts with the humanoid robot atlas,” in 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) , Nov 2016, pp. 1312–1319
2016
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J. Hwangbo, C. D. Bellicoso, P. Fankhauser, and M. Huttery, “Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Oct 2016, pp. 3872–3878
2016
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N. Rotella, S. Mason, S. Schaal, and L. Righetti, “Inertial sensor-based humanoid joint state estimation,” in 2016 IEEE International Conference on Robotics and Automation (ICRA) , May 2016, pp. 1825–1831
2016
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X. Xinjilefu, S. Feng, and C. G. Atkeson, “A distributed mems gyro network for joint velocity estimation,” in 2016 IEEE International Conference on Robotics and Automation (ICRA) , May 2016, pp. 1879–1884
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2014
Cited alongside, same era.
N. Rotella, M. Bloesch, L. Righetti, and S. Schaal, “State estimation for a humanoid robot,” in Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on , Sept 2014, pp. 952–958
2014
Cited alongside, same era.
2014
Cited alongside, same era.
S. Faraji, L. Colasanto, and A. J. Ijspeert, “Practical considerations in using inverse dynamics on a humanoid robot: Torque tracking, sensor fusion and cartesian control laws,” in Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on , Sept 2015, pp. 1619–1626
2015
Cited alongside, same era.
L. Manuelli and R. Tedrake, “Localizing external contact using proprioceptive sensors: The contact particle filter,” in 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Oct 2016, pp. 5062–5069
2016
Cited alongside, same era.
V. Ortenzi, H. C. Lin, M. Azad, R. Stolkin, J. A. Kuo, and M. Mistry, “Kinematics-based estimation of contact constraints using only proprioception,” in 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids) , Nov 2016, pp. 1304–1311
2016
Cited alongside, same era.
2016
Later among the works it cites.
S. Nozawa, S. Noda, M. Murooka, K. Okada, and M. Inaba, “Online estimation of object-environment constraints for planning of humanoid motion on a movable object,” in 2017 IEEE International Conference on Robotics and Automation (ICRA) , May 2017, pp. 1291–1298
2017
Closest in time.
M. Focchi, A. del Prete, I. Havoutis, R. Featherstone, D. G. Caldwell, and C. Semini, “High-slope terrain locomotion for torque-controlled quadruped robots,” Autonomous Robots , vol. 41, no. 1, pp. 259–272, Jan 2017. [Online]. Available: https://doi.org/10.1007/s10514-016-9573-1
2017
Closest in time.
C. Ridgewell, “Humanoid robot friction estimation in multi-contact scenarios,” Ph.D. dissertation, Virginia Polytechnic Institute and State University, 2017
2017
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M. Camurri, M. Fallon, S. Bazeille, A. Radulescu, V. Barasuol, D. G. Caldwell, and C. Semini, “Probabilistic contact estimation and impact detection for state estimation of quadruped robots,” IEEE Robotics and Automation Letters , vol. 2, no. 2, pp. 1023–1030, April 2017
2017
Closest in time.