DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Yeeun | ko |
dc.contributor.author | Yu, Byeongho | ko |
dc.contributor.author | Lee, Eungchang | ko |
dc.contributor.author | Kim, Joon-Ha | ko |
dc.contributor.author | Park, Hae-won | ko |
dc.contributor.author | Myung, Hyun | ko |
dc.date.accessioned | 2022-04-13T06:48:59Z | - |
dc.date.available | 2022-04-13T06:48:59Z | - |
dc.date.created | 2022-03-08 | - |
dc.date.created | 2022-03-08 | - |
dc.date.created | 2022-03-08 | - |
dc.date.created | 2022-03-08 | - |
dc.date.issued | 2022-04 | - |
dc.identifier.citation | IEEE ROBOTICS AND AUTOMATION LETTERS, v.7, no.2, pp.4456 - 4463 | - |
dc.identifier.issn | 2377-3766 | - |
dc.identifier.uri | http://hdl.handle.net/10203/292568 | - |
dc.description.abstract | We propose 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 becomes observable by exploiting the body speed obtained from a stereo camera. In other words, the preintegrated end effector's pose can be estimated. Another advantage of our approach is that it eliminates the necessity for a contact detection step, unlike the typical approaches. The proposed method has also been validated in harsh-environment simulations and real-world experiments containing uneven or slippery terrains. | - |
dc.language | English | - |
dc.publisher | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC | - |
dc.title | STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor | - |
dc.type | Article | - |
dc.identifier.wosid | 000761228500028 | - |
dc.identifier.scopusid | 2-s2.0-85124815296 | - |
dc.type.rims | ART | - |
dc.citation.volume | 7 | - |
dc.citation.issue | 2 | - |
dc.citation.beginningpage | 4456 | - |
dc.citation.endingpage | 4463 | - |
dc.citation.publicationname | IEEE ROBOTICS AND AUTOMATION LETTERS | - |
dc.identifier.doi | 10.1109/LRA.2022.3150844 | - |
dc.contributor.localauthor | Park, Hae-won | - |
dc.contributor.localauthor | Myung, Hyun | - |
dc.description.isOpenAccess | N | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Robot sensing systemsLegged locomotionRobotsFootKinematicsCamerasAlgebraLegged robotslocalizationvisual-inertial SLAM | - |
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