In this letter, we propose a locomotion training framework where a control policy and a state
estimator are trained concurrently. The framework consists of a policy network which outputs …

In this paper, we propose a novel accurate method for dead-reckoning of wheeled vehicles
based only on an Inertial Measurement Unit (IMU). In the context of intelligent vehicles …

We present visual inertial lidar legged navigation system (VILENS), an odometry system for
legged robots based on factor graphs. The key novelty is the tight fusion of four different …

We exploit the complementary strengths of vision and proprioception to develop a point-goal
navigation system for legged robots, called VP-Nav. Legged systems are capable of …

Precise localization is essential but also challenging for autonomous vehicles. In this article,
A novel visual localization method is proposed. Specifically, a semantic local map …

In this article, we holistically present a hybrid-linear inverted pendulum (H-LIP) based
approach for synthesizing and stabilizing 3-D foot-underactuated bipedal walking, with an …

Inertial measurement units (IMUs) are increasingly utilized as motion capture devices in
human movement studies. Given their high portability, IMUs can be deployed in any …

The rigid-body transformation between a LiDAR and monocular camera is required for
sensor fusion tasks, such as SLAM. While determining such a transformation is not …

Recent advances in the utilization of Lie Groups for robotic localization have led to dramatic
increases in the accuracy of estimation and uncertainty characterization. One of the novel …

Due to the difficulty and expense of underwater field trials, a high fidelity underwater
simulator is a necessity for testing and developing algorithms. To fill this need, we present …