论文标题
步骤：使用预纳的脚速度因子的腿部机器人的状态估计器
STEP: State Estimator for Legged Robots Using a Preintegrated foot Velocity Factor
论文作者
论文摘要
我们提出了一个针对腿部机器人的新型状态估计器，步骤是通过新型的预融合脚步因子实现的。在预先整合的脚部速度因子中，通常不采用通常的防滑假设。取而代之的是，通过利用从立体声摄像机获得的车身速度来观察末端效应速度。换句话说，可以估计预融合的最终效应器的姿势。我们方法的另一个优点是，与典型方法不同，它消除了接触检测步骤的必要性。所提出的方法还在艰难的环境模拟和包含不平衡或湿滑地形的现实世界实验中得到了验证。
We propose a novel state estimator for legged robots, STEP, achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-slip assumption is not adopted. Instead, the end effector velocity becomes observable by exploiting the body speed obtained from a stereo camera. In other words, the preintegrated end effector's pose can be estimated. Another advantage of our approach is that it eliminates the necessity for a contact detection step, unlike the typical approaches. The proposed method has also been validated in harsh-environment simulations and real-world experiments containing uneven or slippery terrains.
