Cover Image

InEKFormer: A Hybrid State Estimator for Humanoid Robots

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Hohmeyer, Lasse, Popescu, Mihaela, Bergonzani, Ivan, Mronga, Dennis, Kirchner, Frank
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
by: Vyas, Shubham, et al.
Published: (2025)

An adaptive hierarchical control framework for quadrupedal robots in planetary exploration
by: Stark, Franek, et al.
Published: (2025)

Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
by: Kumar, Rohit, et al.
Published: (2025)

Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
by: Stark, Franek, et al.
Published: (2025)

Right Model, Right Time: Real-Time Cascaded-Fidelity MPC for Bipedal Walking
by: Stark, Franek, et al.
Published: (2026)

Online-Adaptive Anomaly Detection for Defect Identification in Aircraft Assembly
by: Shete, Siddhant, et al.
Published: (2024)

MARLIN: A Cloud Integrated Robotic Solution to Support Intralogistics in Retail
by: Mronga, Dennis, et al.
Published: (2024)

A Survey of Behavior Learning Applications in Robotics -- State of the Art and Perspectives
by: Fabisch, Alexander, et al.
Published: (2019)

Evolutionary Continuous Adaptive RL-Powered Co-Design for Humanoid Chin-Up Performance
by: Jin, Tianyi, et al.
Published: (2025)

Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability
by: Girlanda, Federico, et al.
Published: (2024)

First do not fall: learning to exploit a wall with a damaged humanoid robot
by: Anne, Timothée, et al.
Published: (2022)

HumanoidPano: Hybrid Spherical Panoramic-LiDAR Cross-Modal Perception for Humanoid Robots
by: Zhang, Qiang, et al.
Published: (2025)

PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
by: Kang, Jiarong, et al.
Published: (2026)

A Hybrid Autoencoder for Robust Heightmap Generation from Fused Lidar and Depth Data for Humanoid Robot Locomotion
by: Bank, Dennis, et al.
Published: (2026)

Humanoid Robots and Humanoid AI: Review, Perspectives and Directions
by: Cao, Longbing
Published: (2024)

A 3-Step Optimization Framework with Hybrid Models for a Humanoid Robot's Jump Motion
by: Qi, Haoxiang, et al.
Published: (2025)

A Group Theoretic Metric for Robot State Estimation Leveraging Chebyshev Interpolation
by: Agrawal, Varun, et al.
Published: (2024)

DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs
by: Wu, Yibin, et al.
Published: (2025)

Humanoids in Hospitals: A Technical Study of Humanoid Robot Surrogates for Dexterous Medical Interventions
by: Atar, Soofiyan, et al.
Published: (2025)

RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation
by: Grama, Shourie S., et al.
Published: (2024)

Behavior Foundation Model for Humanoid Robots
by: Zeng, Weishuai, et al.
Published: (2025)

Kinematic Base State Estimation for Humanoid using Invariant Extended Kalman Filter
by: Vedadi, Amirhosein, et al.
Published: (2024)

SafeHumanoid: VLM-RAG-driven Control of Upper Body Impedance for Humanoid Robot
by: Mahmoud, Yara, et al.
Published: (2025)

Trinity: A Modular Humanoid Robot AI System
by: Sun, Jingkai, et al.
Published: (2025)

A Framework for Optimal Ankle Design of Humanoid Robots
by: Cervettini, Guglielmo, et al.
Published: (2025)

Humanoid Everyday: A Comprehensive Robotic Dataset for Open-World Humanoid Manipulation
by: Zhao, Zhenyu, et al.
Published: (2025)

Quantum Deep Reinforcement Learning for Robot Navigation Tasks
by: Hohenfeld, Hans, et al.
Published: (2022)

Human-Robot Collaboration: A Non-Verbal Approach with the NAO Humanoid Robot
by: Qureshi, Maaz, et al.
Published: (2025)

Bi-Level Motion Imitation for Humanoid Robots
by: Zhao, Wenshuai, et al.
Published: (2024)

Humanoid Robots as First Assistants in Endoscopic Surgery
by: Cho, Sue Min, et al.
Published: (2026)

Learning Safe-Stoppability Monitors for Humanoid Robots
by: Sun, Yifan, et al.
Published: (2026)

Humanoid World Models: Open World Foundation Models for Humanoid Robotics
by: Ali, Muhammad Qasim, et al.
Published: (2025)

Physics-Informed Neural Networks with Unscented Kalman Filter for Sensorless Joint Torque Estimation in Humanoid Robots
by: Sorrentino, Ines, et al.
Published: (2025)

HybridMimic: Hybrid RL-Centroidal Control for Humanoid Motion Mimicking
by: Tay, Ludwig Chee-Ying, et al.
Published: (2026)

A Gait Driven Reinforcement Learning Framework for Humanoid Robots
by: Li, Bolin, et al.
Published: (2025)

A Biomechanics-Inspired Approach to Soccer Kicking for Humanoid Robots
by: Marew, Daniel, et al.
Published: (2024)

A Behavior Architecture for Fast Humanoid Robot Door Traversals
by: Calvert, Duncan, et al.
Published: (2024)

PANDORA: The Open-Source, Structurally Elastic Humanoid Robot
by: Herron, Connor W., et al.
Published: (2024)

Humanizing Robot Gaze Shifts: A Framework for Natural Gaze Shifts in Humanoid Robots
by: Wei, Jingchao, et al.
Published: (2026)

Demonstrating Berkeley Humanoid Lite: An Open-source, Accessible, and Customizable 3D-printed Humanoid Robot
by: Chi, Yufeng, et al.
Published: (2025)