Robust Contact State Estimation in Humanoid Walking Gaits
Stylianos Piperakis,Michael Maravgakis,Dimitrios Kanoulas,Panos Trahanias,Stylianos Piperakis,Michael Maravgakis,Dimitrios Kanoulas,Panos Trahanias
In this article, we propose a deep learning frame-work that provides a unified approach to the problem of leg contact detection in humanoid robot walking gaits. Our formulation accomplishes to accurately and robustly estimate the contact state probability for each leg (i.e., stable or slip/no contact). The proposed framework employs solely propriocep-tive sensing and although it relies on simulate...
