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arXiv · 2202.05572

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

Yeeun Kim·Byeongho Yu·Eungchang Mason Lee·Joon-ha Kim·Hae-won Park·Hyun Myung
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Abstract

We propose 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.

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Yeeun Kim, Byeongho Yu, Eungchang Mason Lee, Joon-ha Kim, Hae-won Park, Hyun Myung. 2022-02-11. STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor. https://arxiv.org/abs/2202.05572

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