LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots
Qingrui Zhao,Mingyuan Li,Yongliang Shi,Xuechao Chen,Zhangguo Yu,Lianqiang Han,Zhenyuan Fu,Jintao Zhang,Chao Li,Yuanxi Zhang,Qiang Huang,Qingrui Zhao,Mingyuan Li,Yongliang Shi,Xuechao Chen,Zhangguo Yu,Lianqiang Han,Zhenyuan Fu,Jintao Zhang,Chao Li,Yuanxi Zhang,Qiang Huang
High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond state estimation, the foot contact position is also modeled and estimated. This allows for both position and velocity updates from kinematic measurement. Addition...
