State Estimation for Legged Robots Using Contact-Centric Leg Odometry.
Shuo YangHans KumarZhaoyuan GuXiangyuan ZhangMatthew J. TraversHowie ChosetPublished in: CoRR (2019)
Keyphrases
- state estimation
- legged robots
- legged locomotion
- quadruped robot
- gait patterns
- inverted pendulum
- contact force
- rough terrain
- kalman filtering
- visual odometry
- kalman filter
- mobile robot
- dynamic systems
- particle filter
- map building
- humanoid robot
- extended kalman filter
- visual tracking
- particle filtering
- simultaneous localization and mapping
- feedback control
- real robot
- simulation study
- nonlinear systems
- intelligent control
- three dimensional
- dynamical systems
- complex systems
- dynamic environments
- control algorithm
- video sequences