STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor

Wepropose a novel state estimator for legged robots, STEP , achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-slip assumption is not adopted. Instead, the end effector velocity becomes observable by exploiting the body speed obtaine...

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Veröffentlicht in:	IEEE robotics and automation letters 2022-04, Vol.7 (2), p.4456-4463
Hauptverfasser:	Kim, Yeeun, Yu, Byeongho, Lee, Eungchang Mason, Kim, Joon-ha, Park, Hae-won, Myung, Hyun
Format:	Artikel
Sprache:	eng
Schlagworte:	Algebra Cameras End effectors Foot Kinematics Legged locomotion Legged robots localization Robot sensing systems Robots Velocity visual-inertial SLAM
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