Probabilistic Foot Contact Estimation by Fusing Information from Dynamics and Differential/Forward K

2024-06-04 22:08:00

Goal:

measure force without force sensor
这类topic的文章要关注做的是collision detection还是contact detection
collision detection: detect an impact
contact detection: detect accurate timing of the loss of the contact as well

Contribution:

1.a probabilistic contact detection strategy
basic idea: 利用所有可以利用的information做contact state estimation，考虑了full dynamics and differential/forward kinematics, fuse这些information可以降低noise(modeling errors, inaccurate calibration,etc.)对contact detection的影响。

dynamics: acceleration
differential kinematics: speed
forward kinematics: improves the quality of the contact detection

It includes a full probabilistic model, consisting of a transition model and a measurement model, to fuse dynamics and forward/differential kinematics information together.

Modeling:
目标是identify the binary foot contact stateXtX_tXt, where NNN and FFF represent ‘on the terrain’and ‘off the terrain’
It is assumed that Markov assumption holds in the system which means that the contact state probability distribution is independent of the previous states given the state at the current time step.

Probabilistic Foot Contact Estimation by Fusing Information from Dynamics and Differential/Forward K相关推荐

This page can't be displayed. Contact support for additional information. The incident ID is: xxxxxx
This page can't be displayed. Contact support for additional information. The incident ID is: 561808 ...
MINE：Mutual Information Neural Estimation
Mutual Information Neural Estimation Paper:https://arxiv.org/pdf/1801.04062v4.pdf Code:https://githu ...
【推荐系统算法】PMF(Probabilistic Matrix Factorization)
Mnih, Andriy, and Ruslan Salakhutdinov. "Probabilistic matrix factorization." Advances in ...
计算两个向量的互信息(Mutual Information) matlab程序
互信息,Mutual Information,缩写为MI,用来计算两个变量X与Y是否有关系,以及关系的强弱 function [Ixy,lambda]=MutualInfo(X,Y) %% % Est ...
Graph Visualization and Navigation in Information Visualization: A Survey 译文
图像可视化和信息可视化导航:文献综述 Ivan Herman, Member, IEEE Computer Society, Guy MelancËon, and M. Scott Marshall ...
ECCV2022论文列表（中英对照）
Paper ID Paper Title 论文标题 8 Learning Uncoupled-Modulation CVAE for 3D Action-Conditioned Human Motio ...
Paper：《Multimodal Machine Learning: A Survey and Taxonomy，多模态机器学习:综述与分类》翻译与解读
Paper:<Multimodal Machine Learning: A Survey and Taxonomy,多模态机器学习:综述与分类>翻译与解读目录 <Multimoda ...
论文阅读：CVPR2016 Paper list
原文地址:http://blog.csdn.net/xizero00/article/details/51386667 在过几天CVPR2016就要召开了,先放个list. ORAL SESSION ...
CVPR 2016 摘要阅读
为了说明看过CVPR2016全部文章的摘要,总结一下,摘要只保留了创新点部分. ORAL SESSION Image Captioning and Question Answering Monday, ...

最新文章

热门文章