Ross Hartley
Papers
12
Total Citations
839
H-Index
9
About
Ross Hartley is a leading researcher in legged robotics, specializing in state estimation, feedback control, and dynamic locomotion for bipedal systems. His most impactful contribution is the development of contact-aided invariant extended Kalman filtering (InEKF), a groundbreaking approach that fuses inertial, kinematic, and contact data to achieve robust robot state estimation without relying on vision—a method that has garnered over 295 citations. Hartley’s work on the Cassie bipedal robot, including feedback control for walking, standing, and even riding a Segway (216 citations), has provided the robotics community with a standardized platform for advancing locomotion algorithms. He has also pioneered the use of supervised learning to stabilize underactuated bipedal walking (60 citations) and introduced hybrid contact preintegration for visual-inertial-contact state estimation using factor graphs (54 citations). His research bridges theory and practice, enabling stable, high-speed walking in real-world environments, including outdoor terrain. With over 800 total citations across his top papers, Hartley’s innovations in nonlinear observer design and gait libraries have become foundational for modern legged robot autonomy.
Research Focus
Key Achievements
Top Papers
- 1Contact-aided invariant extended Kalman filtering for robot state estimation295 citations · 2020
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- 10LiDARTag: A Real-Time Fiducial Tag using Point Clouds5 citations · 2019