Get our free extension to see links to code for papers anywhere online!

Chrome logo Add to Chrome

Firefox logo Add to Firefox

Picture for Ross Hartley

LiDARTag: A Real-Time Fiducial Tag using Point Clouds


Aug 23, 2019
Jiunn-Kai Huang, Maani Ghaffari, Ross Hartley, Lu Gan, Ryan M. Eustice, Jessy W. Grizzle


  Access Paper or Ask Questions

Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation


Apr 19, 2019
Ross Hartley, Maani Ghaffari, Ryan M. Eustice, Jessy W. Grizzle


  Access Paper or Ask Questions

Rapid Trajectory Optimization Using C-FROST with Illustration on a Cassie-Series Dynamic Walking Biped


Mar 15, 2019
Ayonga Hereid, Omar Harib, Ross Hartley, Yukai Gong, Jessy W. Grizzle


  Access Paper or Ask Questions

Hybrid Contact Preintegration for Visual-Inertial-Contact State Estimation Using Factor Graphs


Oct 02, 2018
Ross Hartley, Maani Ghaffari Jadidi, Lu Gan, Jiunn-Kai Huang, Jessy W. Grizzle, Ryan M. Eustice

* Detailed derivations are provided in the supplementary material document listed under "Ancillary files" 

  Access Paper or Ask Questions

Feedback Control of a Cassie Bipedal Robot: Walking, Standing, and Riding a Segway


Sep 19, 2018
Yukai Gong, Ross Hartley, Xingye Da, Ayonga Hereid, Omar Harib, Jiunn-Kai Huang, Jessy Grizzle

* Associated software will be made open source when paper review is completed 

  Access Paper or Ask Questions

Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation


May 26, 2018
Ross Hartley, Maani Ghaffari Jadidi, Jessy W. Grizzle, Ryan M. Eustice

* Published in the proceedings of Robotics: Science and Systems 2018 

  Access Paper or Ask Questions

Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors


Feb 25, 2018
Ross Hartley, Josh Mangelson, Lu Gan, Maani Ghaffari Jadidi, Jeffrey M. Walls, Ryan M. Eustice, Jessy W. Grizzle

* Detailed derivations are provided in the supplementary material document listed under "Ancillary files" 

  Access Paper or Ask Questions