DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
Prashanth Ramadoss Giulio Romualdi Stefano Dafarra Francisco Javier Andrade Chavez Silvio Traversaro Daniele Pucci Prashanth Ramadoss Giulio Romualdi Stefano Dafarra Francisco Javier Andrade Chavez Silvio Traversaro Daniele Pucci
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically meaningful estimator which is characterized by concentrated Gaussian distributions. The configuration of a floating base system like a humanoid robot usually req...