Contact Forces Preintegration for Estimation in Legged Robotics using Factor Graphs
Médéric Fourmy Thomas Flayols Pierre-Alexandre Léziart Nicolas Mansard Joan Solà Médéric Fourmy Thomas Flayols Pierre-Alexandre Léziart Nicolas Mansard Joan Solà
State estimation, in particular estimation of the base position, orientation and velocity, plays a big role in the efficiency of legged robot stabilization. The estimation of the base state is particularly important because of its strong correlation with the underactuated dynamics, i.e. the evolution of center of mass and angular momentum. Yet this estimation is typically done in two phases, first...