Robust Contact State Estimation in Humanoid Walking Gaits.
Stylianos PiperakisMichael MaravgakisDimitrios KanoulasPanos E. TrahaniasPublished in: CoRR (2022)
Keyphrases
- state estimation
- humanoid robot
- kalman filtering
- dynamic systems
- kalman filter
- sequential importance sampling
- visual tracking
- walking speed
- particle filter
- particle filtering
- state space model
- legged robots
- human body
- computationally efficient
- feature extraction
- data fusion
- learning algorithm
- signal processing
- image sequences