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.
Leg-kilo: Robust kinematic- inertial-lidar odometry for dynamic legged robots.IEEE Robotics and Automation Letters, 9(10):8194–8201, 2024
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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.