| Title | Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains |
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| Publication Type | Conference Paper |
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| Year of Publication | 2018 |
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| Date Published | May |
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| Authors | Bledt, G., P. M. Wensing, S. Ingersoll, and S. Kim |
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| Conference Name | 2018 IEEE International Conference on Robotics and Automation (ICRA) Finalist Best Overall Paper & Finalist Best Student Paper |
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| Keywords | contact detection, contact initiation, contact model fusion, contact models, contact priors, contact state estimation, contact transitions, discrete time systems, discrete-time extension, Disturbance observers, dynamic modeling, Event-Based Finite State Machine, event-based locomotion, finite state machines, Force, force control, generalized-momentum disturbance observer, Kalman Filtering, Kalman filters, kinematic, legged locomotion, legged robots, MIT Cheetah 3 robot, motion control, observers, proprioceptive force control estimates, robot dynamics, Robot kinematics, Robot sensing systems, robust control, robustness, terrain geometry, time 4.0 ms to 5.0 ms, unstructured environments, unstructured terrains |
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| DOI | 10.1109/ICRA.2018.8460904 |
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