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Simultaneous State Estimation and Contact Detection for Legged Robots by Multiple-Model Kalman Filtering.

Marcel MennerKarl Berntorp
Published in: CoRR (2024)
Keyphrases
  • state estimation
  • kalman filtering
  • kalman filter
  • state space model
  • extended kalman filter
  • dimensionality reduction
  • pose estimation
  • control algorithm