Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet
Prashanth Ramadoss,Giulio Romualdi,Stefano Dafarra,Silvio Traversaro,Daniele Pucci,Prashanth Ramadoss,Giulio Romualdi,Stefano Dafarra,Silvio Traversaro,Daniele Pucci
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base position-and-orientation and its linear velocity along with the augmented states of feet position-and-orientation. We refer to such filters as flat-foot filters. How...