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Legged Robot State-Estimation Through Combined Forward Kinematic and Preintegrated Contact Factors.
Ross Hartley
Josh Mangelson
Lu Gan
Maani Ghaffari Jadidi
Jeffrey M. Walls
Ryan M. Eustice
Jessy W. Grizzle
Published in:
ICRA (2018)
Keyphrases
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state estimation
kinematic model
legged robots
particle filter
dynamic systems
kalman filtering
state space model
kalman filter
visual tracking
particle filtering
degrees of freedom
machine learning
motion estimation
stability margin