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The ability to generate accurate and detailed three-dimensional (3D) maps of a scene from a mobile platform is an essential technology for a wide variety of applications from robotic navigation to geological surveying. In many instances, the best vantage point is from above, and as a result, there is a growing demand for low-altitude mapping solutions from(More)
We present methods for extracting a fast indicator for push-recovery strategy selection from the data of an inertial measurement unit mounted on a human or humanoid torso. The methods serve the purposes of detecting the beginning, the direction and intensity of the push as well as predicting the feasible recovery strategy. We test our methods on a dataset(More)
We present highly integrated sensor-actuatorcontroller units (SAC units), addressing the increasing need for easy to use components in the design of modern highperformance robotic systems. Following strict design principles and an electro-mechanical co-design from the beginning on, our development resulted in highly integrated SAC units. Each SAC unit(More)
Full-size humanoid robots are traditionally controlled with the Zero Moment Point (ZMP)-paradigm and simplified dynamics, a well established method which can be applied to balancing, walking, and whole-body manipulation tasks. For pure walking control, approaches like pattern generators and reflexes are employed, often on optimized hardware. Both controller(More)
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