Kinematic Base State Estimation for Humanoid using Invariant Extended Kalman Filter

Amirhosein Vedadi, Aghil Yousefi-Koma, Masoud Shariat-Panahi +1

This paper presents the design and implementation of a Right Invariant Extended Kalman Filter (RIEKF) for estimating the states of the kinematic base of the Surena V humanoid robot…