Maani Ghaffari
Maani Ghaffari is an Assistant Professor in the Department of Naval Architecture and Marine Engineering and the Department of Robotics at the University of Michigan, Ann Arbor, where he directs the Computational Autonomy and Robotics Laboratory (CURLY). He received his Ph.D. in Engineering (Robotics) from the Centre for Autonomous Systems at the University of Technology Sydney in 2017. His research focuses on the theory and applications of robotics and autonomous systems, including geometric state estimation, contact-aided invariant extended Kalman filtering for legged robot state estimation, machine learning, and motion planning under uncertainty.
“Lin et al. proposed augmenting the state-of-the-art invariant extended Kalman filter (InEKF) with learned contact detection. However, this approach requires labeled contact data for training and still treats contact as a binary state.”
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