arXiv Robotics — research abstracts· Arnaud Demont (CNRS-AIST JRL, LISV), Mehdi Benallegue (CNRS-AIST JRL), Abdelaziz Benallegue (LISV, UVSQ), Pierre Gergondet (CNRS-AIST JRL), Antonin Dallard (LIRMM | IDH, CNRS-AIST JRL), Rafael Cisneros (CNRS-AIST JRL), Masaki Murooka (CNRS-AIST JRL), Fumio Kanehiro (CNRS-AIST JRL)·· 2 days agoEditorial score52
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
Summary
This paper presents the Kinetics Observer, a novel proprioceptive state estimator for legged robots that enhances robustness to contact slippage by tightly coupling whole-body kinematics with contact dynamics. The approach fuses leg kinematics, IMU, and wrench sensor measurements for real-time joint estimation of centroidal kinematics and contact wrenches, and is validated on humanoid robots in three locomotion scenarios.
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Source：arXiv Robotics — research abstracts · arxiv.org