Showing 2024Show all
2 papers · 1 filter
cs.RO2024
Simultaneous Ground Reaction Force and State Estimation via Constrained Moving Horizon Estimation
Jiarong Kang, Xiaobin Xiong
Accurate ground reaction force (GRF) estimation can significantly improve the adaptability of legged robots in various real-world applications. For instance, with estimated GRF and…
cs.RO2024
Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
Jiarong Kang, Yi Wang, Xiaobin Xiong
In this paper, we present a fast and decentralized state estimation framework for the control of legged locomotion. The nonlinear estimation of the floating base states is decentra…