Fernando Auat Cheein

A year-long forest survey demonstrates that a modular, open-source mobile manipulator can achieve high sensor reachability and operational reliability, even with component degradation and reconfigurations.

A physics-based model reveals that viscous friction dominates power consumption in most joints of the Unitree G1 arm, challenging assumptions about energy efficiency in humanoid robotics.

Achieving a 69.9% success rate in energy-efficient arm reaching, this framework sets a new benchmark for humanoid robots operating under strict energy constraints.

Robust state estimation in noisy environments gets a boost: this adaptive loss function for Moving Horizon Estimation rapidly suppresses outlier influence while preserving accuracy on clean data.