STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor
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DOI: 10.1109/lra.2022.3150844
Abstract: Wepropose a novel state estimator for legged robots, STEP, achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-slip assumption is not adopted. Instead, the end effector velocity… read more here.
Keywords: state estimator; foot velocity; velocity factor; velocity ... See more keywords