STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor

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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.
Publisher
IEEE
Issue Date
2022-05-23
Language
English
Citation

2022 International Conference on Robotics and Automation, ICRA 2022

URI
http://hdl.handle.net/10203/299496
Appears in Collection
ME-Conference Papers(학술회의논문)EE-Conference Papers(학술회의논문)
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