Fangyu Jiang

A2I-Calib: An Anti-Noise Active Multi-IMU Spatial-Temporal Calibration Framework for Legged Robots

Recently, multi-node inertial measurement unit (IMU)-based odometry for legged robots has gained attention due to its cost-effectiveness, power efficiency, and high accuracy. However, the spatial and temporal misalignment between foot-end motion derived from forward kinematics and foot IMU measureme