A three-mode multiple-model Kalman filter using only joint encoders simultaneously detects leg collisions and estimates external forces, enabling safer quadrupedal locomotion.
Perceptive locomotion in rough terrain–online foothold optimization,
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Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion
A three-mode multiple-model Kalman filter using only joint encoders simultaneously detects leg collisions and estimates external forces, enabling safer quadrupedal locomotion.