Presents four contact-aided floating-base state estimators for legged robots progressing from invariant EKF to factor-graph updates and fixed-lag smoothers, with open implementations.
IEEE Transactions on Automatic Control , volume =
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Four Simple Proprioceptive Estimators for Legged Robots
Presents four contact-aided floating-base state estimators for legged robots progressing from invariant EKF to factor-graph updates and fixed-lag smoothers, with open implementations.