Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information
Ziwon Yoon,
Joon-Ha Kim,
Hae-Won Park
Abstract:This article proposes an invariant smoother for legged robot state estimation with the measurement of an inertial measurement unit and leg kinematics while assuming static foot contact. Because the proposed smoother is formulated with the residual functions with group-affine property, their Jacobians become independent from current state estimates. These state-independent Jacobians lead to better convergence properties in optimizing the cost in the smoother, especially under dynamic contact events. The propose… Show more
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