Legged Robot State Estimation within Non-inertial Environments

Legged Robot State Estimation within Non-inertial Environments

24 March 2024

Zijian He

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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 74 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 107 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 90 205 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

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