A two-stage adaptive state estimator with a noise regression model built from ESVC-foot biped experiments estimates CoM state with faster convergence than EKF and an adaptive EKF during marking time and variable-speed lateral walking.
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Noise Analysis and Hierarchical Adaptive Body State Estimator For Biped Robot Walking With ESVC Foot
A two-stage adaptive state estimator with a noise regression model built from ESVC-foot biped experiments estimates CoM state with faster convergence than EKF and an adaptive EKF during marking time and variable-speed lateral walking.