State Estimation for Hybrid Wheeled-Legged Robots Performing Mobile Manipulation Tasks
Yangwei You Samuel Cheong Tai Pang Chen Yuda Chen Kun Zhang Cihan Acar Fon Lin Lai Albertus Hendrawan Adiwahono Keng Peng Tee Yangwei You Samuel Cheong Tai Pang Chen Yuda Chen Kun Zhang Cihan Acar Fon Lin Lai Albertus Hendrawan Adiwahono Keng Peng Tee
This paper introduces a general state estimation framework fusing multiple sensor information for hybrid wheeled-legged robots performing mobile manipulation tasks. At the core of the state estimator is a novel unified odometry for hybrid locomotion which can seamlessly maintain tracking and has no need to switch between stepping and rolling modes. To the best of our knowledge, the proposed odomet...