Legged Robot State Estimation within Non-inertial Environments

Legged Robot State Estimation within Non-inertial Environments

24 March 2024

Zijian He

ArXiv (abs)PDF HTML

Papers citing "Legged Robot State Estimation within Non-inertial Environments"

8 / 8 papers shown

Title
Discrete-Time Hybrid Automata Learning: Legged Locomotion Meets Skateboarding Hang Liu Sangli Teng Ben Liu Wei Zhang Maani Ghaffari 119 4 0 03 Mar 2025
Time-Varying ALIP Model and Robust Foot-Placement Control for Underactuated Bipedal Robot Walking on a Swaying Rigid Surface Yuan Gao Yukai Gong Victor Paredes Ayonga Hereid Yan Gu 62 13 0 24 Oct 2022
Fully Proprioceptive Slip-Velocity-Aware State Estimation for Mobile Robots via Invariant Kalman Filtering and Disturbance Observer Xihang Yu Sangli Teng Theodor Chakhachiro W. Tong Ting-Ting Li Tzu-Yuan Lin S. Koehler Manuel Ahumada Jeffrey M. Walls Maani Ghaffari 82 14 0 29 Sep 2022
Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces Yuan Gao C. Yuan Yan Gu 97 19 0 25 Jan 2022
Contact-Aided Invariant Extended Kalman Filtering for Robot State Estimation R. Hartley Maani Ghaffari Jadidi Ryan Eustice J. Grizzle 136 262 0 19 Apr 2019
AI-IMU Dead-Reckoning Martin Brossard Axel Barrau Silvère Bonnabel 90 204 0 12 Apr 2019
Quaternion kinematics for the error-state Kalman filter J. Solà 58 492 0 03 Nov 2017
Intrinsic filtering on Lie groups with applications to attitude estimation Axel Barrau Silvere Bonnabel 53 123 0 09 Oct 2013

We use cookies and other tracking technologies to improve your browsing experience on our website, to show you personalized content and targeted ads, to analyze our website traffic, and to understand where our visitors are coming from. See our policy.