Prashanth Ramadoss — accepted AI-conference papers

2022

Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet

Prashanth Ramadoss, Giulio Romualdi, Stefano Dafarra, Silvio Traversaro, Daniele Pucci

IROS 2022poster

Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-orientation and its linear velocity along with the a…

Cited by 0 Source ↗Scholar ↗

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 14 Source ↗Scholar ↗