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.
Simultaneous ground reaction force and state estimation via constrained moving horizon estimation,
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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.