Zhenyuan Fu

LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots

High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond state estimation, the foot contact position is also modeled an…