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cs.RO2026
LAG-IO: Multi-IMU State Estimation for Legged Robots Using Factor Graphs
Yicheng Zhou, Longwen Chen, Qinghua Yu +3
Robust proprioceptive state estimation is crucial for legged robots, particularly in challenging environments where exteroceptive sensors are unreliable. While traditional leg odom…
cs.RO2025
Flexible Exoskeleton Control Based on Binding Alignment Strategy and Full-arm Coordination Mechanism
Chuang Cheng, Xinglong Zhang, Xieyuanli Chen +6
In rehabilitation, powered, and teleoperation exoskeletons, connecting the human body to the exoskeleton through binding attachments is a common configuration. However, the uncerta…