Dual beta-KF estimates calf length from torque and contact force, and uses beta-divergence to downweight foot-slip outliers, improving proprioceptive state estimation on a quadruped.
State estimation for legged robots: Consis- tent fusion of leg kinematics and imu,
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Robust State Estimation for Legged Robots with Dual Beta Kalman Filter
Dual beta-KF estimates calf length from torque and contact force, and uses beta-divergence to downweight foot-slip outliers, improving proprioceptive state estimation on a quadruped.