Mark Wilfried Mueller

Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update

This paper proposes a state estimator for legged robots operating in slippery environments. An Invariant Extended Kalman Filter (InEKF) is implemented to fuse inertial and velocity measurements from a tracking camera and leg kinematic constraints. The misalignment between the camera and the robot-fr…