TitleContact Model Fusion for Event-Based Locomotion in Unstructured Terrains
Publication TypeConference Paper
Year of Publication2018
Date PublishedMay
AuthorsBledt, G., P. M. Wensing, S. Ingersoll, and S. Kim
Conference Name2018 IEEE International Conference on Robotics and Automation (ICRA) Finalist Best Overall Paper & Finalist Best Student Paper
Keywordscontact 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
DOI10.1109/ICRA.2018.8460904