{"paper":{"title":"PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Jiarong Kang, Kunzhao Ren, Tao Pang, Xiaobin Xiong","submitted_at":"2026-05-17T22:43:10Z","abstract_excerpt":"Humanoid and legged robots interact with the environment through intermittent contacts, making accurate motion estimation fundamentally dependent on reasoning about contact dynamics. However, standard sensing pipelines-whether based on onboard proprioception with Extended Kalman Filters (EKFs) or external motion capture systems-recover only kinematics, while contact forces, contact timing, and inertial parameters remain unobserved. As a result, purely kinematic reconstructions often violate rigid-body dynamics, particularly during contact-rich motions. To enable accurate motion estimation from"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17681","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.17681/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"cited_work_retraction","ran_at":"2026-05-19T21:51:58.666128Z","status":"completed","version":"1.0.0","findings_count":0},{"name":"shingle_duplication","ran_at":"2026-05-19T21:49:44.472701Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"citation_quote_validity","ran_at":"2026-05-19T21:49:44.255484Z","status":"skipped","version":"0.1.0","findings_count":0},{"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.528285Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T21:21:57.440144Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"f83b246a2d01714da9a5b807aba60db117dfab7ad127af76c3aa787cdd9524d9"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}