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- W2066443443 abstract "Availability of momentary velocity of a legged robot is essential for its efficient control. However, estimation of the velocity is difficult, because the robot does not need to touch the ground all the time or its feet may twist. In this paper we introduce a method for velocity estimation in a legged robot that combines kinematic model of the supporting leg, readouts from an inertial sensor, and Kalman filter. The method alleviates all the above mentioned difficulties." @default.
- W2066443443 created "2016-06-24" @default.
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- W2066443443 date "2013-08-01" @default.
- W2066443443 modified "2023-09-26" @default.
- W2066443443 title "Robust velocity estimation for legged robot using on-board sensors data fusion" @default.
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- W2066443443 doi "https://doi.org/10.1109/mmar.2013.6670000" @default.
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