PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.
Fast decentralized state estimation for legged robot locomotion via ekf and mhe
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A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.
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PRIME: Physically-consistent Robotic Inertial and Motion Estimation for Legged and Humanoid Robots
PRIME is a MAP optimization framework that refines onboard kinematics into dynamically consistent trajectories for legged robots while jointly estimating contact forces and inertial parameters using differentiable smoothed contact dynamics.
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Simultaneous Calibration of Noise Covariance and Kinematics for State Estimation of Legged Robots via Bi-level Optimization
A bi-level optimization framework jointly calibrates noise covariances and kinematic parameters for improved state estimation accuracy in legged robots.