Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach.

Kendall Lowrey Jeremy Dao Emanuel Todorov

Published in: Humanoids (2016)

Keyphrases

state estimation
real time
unscented kalman filter
kalman filter
particle filter
state space model
dynamic systems
kalman filtering
visual tracking
extended kalman filter
particle filtering
object tracking
vision system
dynamical systems
humanoid robot