Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions

Hilton Marques Souza Santana, João Carlos Virgolino Soares, Ylenia Nisticò +2

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especia…