DC Field | Value | Language |
---|---|---|
dc.contributor.author | Kim, Ye-Eun | ko |
dc.contributor.author | Yu, Byeong-Ho | ko |
dc.contributor.author | Lee, Eung-Chang | ko |
dc.contributor.author | Kim, Joon-Ha | ko |
dc.contributor.author | Park, Hae-Won | ko |
dc.contributor.author | Myung, Hyun | ko |
dc.date.accessioned | 2022-11-10T08:00:54Z | - |
dc.date.available | 2022-11-10T08:00:54Z | - |
dc.date.created | 2022-09-06 | - |
dc.date.issued | 2022-05-23 | - |
dc.identifier.citation | 2022 International Conference on Robotics and Automation, ICRA 2022 | - |
dc.identifier.uri | http://hdl.handle.net/10203/299496 | - |
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 | - |
dc.title | STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor | - |
dc.type | Conference | - |
dc.type.rims | CONF | - |
dc.citation.publicationname | 2022 International Conference on Robotics and Automation, ICRA 2022 | - |
dc.identifier.conferencecountry | US | - |
dc.identifier.conferencelocation | Philadelphia | - |
dc.contributor.localauthor | Park, Hae-Won | - |
dc.contributor.localauthor | Myung, Hyun | - |
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