Estimation of Kinematic Base States

During my time at the Center of Advanced Systems & Technologies (CAST) in Tehran, Iran, I worked on the project titled Estimation of Kinematic Base States of Surena-V humanoid robot from October 2020 to September 2022. This project was part of my MSc thesis, and you can find more detailed information in the paper available at this link.

Key Contributions:

  • I implemented Extended Kalman filters based on Lie algebra, which enhanced the accuracy of estimating the robot's kinematic states.
  • I also worked on combining the robot's forward kinematics with pose estimation using inertial sensor data, leading to improved performance in understanding its position and orientation.