most citedInvariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces

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cs.RO2022★ 1 cited

Invariant Filtering for Legged Humanoid Locomotion on Dynamic Rigid Surfaces

Yuan Gao, Chengzhi Yuan, Yan Gu

State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-…