arXiv Robotics — research abstracts· Yicheng Zhou, Longwen Chen, Qinghua Yu, Junhao Xiao, Huimin Lu, Xieyuanli Chen·· 5 days agoEditorial score62
LAG-IO: Multi-IMU State Estimation for Legged Robots Using Factor Graphs
LAG-IO: Multi-IMU State Estimation for Legged Robots Using Factor Graphs
Summary
This research proposes LAG-IO, a factor graph-based state estimation framework for legged robots that integrates multiple IMUs and joint encoders. The method includes a continuous probabilistic contact detection module and kinematic relative position factors to improve trajectory accuracy and reduce vertical divergence in unstructured environments.
Source: arXiv Robotics — research abstracts · Read original article ↗
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Source：arXiv Robotics — research abstracts · arxiv.org