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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:
CoRR (2017)
Keyphrases
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state estimation
kinematic model
kalman filter
legged robots
dynamic systems
state space model
particle filter
kalman filtering
particle filtering
visual tracking
human motion
image sequences
degrees of freedom
multi sensor
stability margin