OCELOT fuses a debounced force GMM-FSM and kinematic GLRT into an ESEKF to produce accurate leg odometry from IMU, encoders and force sensors while explicitly detecting and rejecting slippage on diverse terrains.
Zero-velocity detection—an algorithm evaluation.IEEE transactions on biomedical engineering, 57(11):2657–2666, 2010
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OCELOT: Odometry and Contact Estimation for Legged Robots
OCELOT fuses a debounced force GMM-FSM and kinematic GLRT into an ESEKF to produce accurate leg odometry from IMU, encoders and force sensors while explicitly detecting and rejecting slippage on diverse terrains.