Legged odometry based on fusion of leg kinematics and IMU information in a humanoid robot
Position and velocity estimation are the key technologies to improve the motion control ability of humanoid robots. Aiming at solving the positioning problem of humanoid robots, we have designed a legged odometry algorithm based on forward kinematics and the feed back of IMU. We modeled the forward...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Elsevier
2025-03-01
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| Series: | Biomimetic Intelligence and Robotics |
| Subjects: | |
| Online Access: | http://www.sciencedirect.com/science/article/pii/S2667379724000548 |
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