Francisco Javier Andrade Chavez — accepted AI-conference papers

2021

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

ICRA 2021poster

This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically meaningful estimator which is characterized by concentrated G…

Cited by 17 Source ↗Scholar ↗

2019

Model Based In Situ Calibration with Temperature compensation of 6 axis Force Torque Sensors

Francisco Javier Andrade Chavez, Gabriele Nava, Silvio Traversaro, Francesco Nori, Daniele Pucci

ICRA 2019poster

It is well known that sensors using strain gauges have a potential dependency on temperature. This creates temperature drift in the measurements of six axis force torque sensors (F/T). The temperature drift can be considerable if an experiment is long or the environmental conditions are different fr…

Cited by 17 Source ↗Scholar ↗

2018

Contact Force and Joint Torque Estimation Using Skin

Francisco Javier Andrade Chavez, Joan Kangro, Silvio Traversaro, Francesco Nori, Daniele Pucci

RA-L 2018

In this letter, we present algorithms to estimate contact locations, external forces, and joint torques using skin, i.e., distributed tactile sensors, kinematic sensors, and a single Inertial Measurement Unit (IMU) without the need for force-torque sensors. Distributed tactile sensors are an array o

Cited by 11 Source ↗Scholar ↗