VILENS: Visual, Inertial, Lidar, and Leg Odometry for All-Terrain Legged Robots.
David WisthMarco CamurriMaurice F. FallonPublished in: CoRR (2021)
Keyphrases
- legged robots
- quadruped robot
- legged locomotion
- rough terrain
- inertial sensors
- inverted pendulum
- gait patterns
- mobile robot
- position and orientation
- autonomous navigation
- humanoid robot
- walking robot
- feedback control
- learning algorithm
- fuzzy controller
- simulation study
- reinforcement learning
- visual odometry
- nonlinear systems
- input output
- vision system