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- W2156428401 abstract "We report on a continuous time full body state estimator for a hexapod robot operating in the dynamical regime (entailing a significant aerial phase) on level ground that combines a conventional rate gyro with a novel leg strain based body pose estimator. We implement this estimation procedure on the robot RHex and evaluate its performance using a visual ground truth measurement system. As an independent assessment of our estimator's quality we also compare its odometry performance to sensorless averaged open loop distance-per-stride estimates." @default.
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- W2156428401 date "2005-04-01" @default.
- W2156428401 modified "2023-10-18" @default.
- W2156428401 title "Toward a 6 DOF body state estimator for a hexapod robot with dynamical gaits" @default.
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- W2156428401 doi "https://doi.org/10.1109/iros.2004.1389746" @default.
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