Name
Abstract | ||
|---|---|---|
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 obtained from a stereo camera. In other words, the preintegrated end effector's pose can be estimated. Another advantage of our approach is that it eliminates the necessity for a contact detection step, unlike the typical approaches. The proposed method has also been validated in harsh-environment simulations and real-world experiments containing uneven or slippery terrains. |
Year | DOI | Venue |
|---|---|---|
2022 | 10.1109/LRA.2022.3150844 | IEEE ROBOTICS AND AUTOMATION LETTERS |
Keywords | DocType | Volume |
Robot sensing systems, Legged locomotion, Robots, Foot, Kinematics, Cameras, Algebra, Legged robots, localization, visual-inertial SLAM | Journal | 7 |
Issue | ISSN | Citations |
2 | 2377-3766 | 0 |
PageRank | References | Authors |
0.34 | 0 | 6 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Yeeun Kim | 1 | 0 | 1.35 |
| Byeongho Yu | 2 | 0 | 0.34 |
| Eungchang Mason Lee | 3 | 1 | 1.42 |
| Joon-Ha Kim | 4 | 0 | 2.03 |
| Hae-won Park | 5 | 0 | 0.34 |
| Hyun Myung | 6 | 0 | 1.01 |