Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update
Sangli Teng Mark Wilfried Mueller Koushil Sreenath Sangli Teng Mark Wilfried Mueller Koushil Sreenath
This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity measurements from a tracking camera and leg kinematic constraints. The misalignment between the camera and the robot-frame is also modeled thus enabling auto-calibration of camera pose. The leg kinematics based velocity...