The Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
Overview
A new state estimator for legged robots, Kinetics Observer, improves robustness to contact slippage by integrating kinematics and contact dynamics. Validated on humanoid robots in three locomotion scenarios with 13 sequences.,
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- arXiv Robotics — research abstractsThe Kinetics Observer: A Tightly Coupled Estimator for Legged Robots
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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