Sensor data fusion for body state estimation in a hexapod robot with dynamical gaits.
Pei-Chun LinHaldun KomsuogluDaniel E. KoditschekPublished in: IEEE Trans. Robotics (2006)
Keyphrases
- state estimation
- legged robots
- mobile robot
- visual tracking
- state space model
- dynamic systems
- particle filter
- kalman filter
- kalman filtering
- simultaneous localization and map building
- human body
- particle filtering
- inverted pendulum
- quadruped robot
- real robot
- sagittal plane
- humanoid robot
- visual information
- vision system
- spatio temporal