State Estimation for Legged Robots - Consistent Fusion of Leg Kinematics and IMU.
Michael BlöschMarco HutterMark A. HoepflingerStefan LeuteneggerChristian GehringC. David RemyRoland SiegwartPublished in: Robotics: Science and Systems (2012)
Keyphrases
- state estimation
- legged robots
- legged locomotion
- quadruped robot
- inverted pendulum
- gait patterns
- kalman filter
- multi sensor
- dynamic systems
- kalman filtering
- particle filter
- visual tracking
- particle filtering
- extended kalman filter
- mobile robot
- data fusion
- rough terrain
- sensor fusion
- control algorithm
- humanoid robot
- image fusion
- simulation study
- complex systems