Robust Contact State Estimation in Humanoid Walking Gaits.

Stylianos Piperakis Michael Maravgakis Dimitrios Kanoulas Panos E. Trahanias

Published in: IROS (2022)

Keyphrases

state estimation
humanoid robot
kalman filter
sequential importance sampling
kalman filtering
state space model
particle filtering
dynamic systems
legged robots
mechanical systems
walking speed
visual tracking
estimation problems
computationally efficient
machine learning
particle filter
human gait
search algorithm