WALK-VIO: Walking-motion-Adaptive Leg Kinematic Constraint Visual-Inertial Odometry for Quadruped Robots.
Hyunjun LimByeongho YuYeeun KimJoowoong ByunSoonpyo KwonHaewon ParkHyun MyungPublished in: CoRR (2021)
Keyphrases
- quadruped robot
- humanoid robot
- inertial sensors
- joint angles
- legged robots
- joint space
- rough terrain
- physical constraints
- motion planning
- inverse kinematics
- degrees of freedom
- motion capture
- parallel robot
- position and orientation
- motion tracking
- legged locomotion
- walking robot
- visual odometry
- visual sensor
- robot motion
- human body
- walking speed
- motion sequences
- mobile robot
- human motion
- motion control
- visual information
- visual perception
- sensor fusion
- robot arm
- inverse dynamics
- human gait
- visual motion
- visual data
- parallel manipulator
- dynamic model
- motion analysis
- robot manipulators
- motion estimation
- inverted pendulum