VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots.
David WisthMarco CamurriMaurice F. FallonPublished in: IEEE Trans. Robotics (2023)
Keyphrases
- legged robots
- quadruped robot
- legged locomotion
- rough terrain
- inertial sensors
- inverted pendulum
- gait patterns
- mobile robot
- position and orientation
- humanoid robot
- control algorithm
- feedback control
- visual odometry
- intelligent control
- autonomous navigation
- digital elevation models
- dynamic model
- simulation study
- experimental data
- multi modal
- real time