OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering
Alexander Schperberg,Yusuke Tanaka,Saviz Mowlavi,Feng Xu,Bharathan Balaji,Dennis Hong,Alexander Schperberg,Yusuke Tanaka,Saviz Mowlavi,Feng Xu,Bharathan Balaji,Dennis Hong
State estimation for legged robots is challenging due to their highly dynamic motion and limitations imposed by sensor accuracy. By integrating Kalman filtering, optimization, and learning-based modalities, we propose a hybrid solution that combines proprioception and exteroceptive information for estimating the state of the robot’s trunk. Leveraging joint encoder and IMU measurements, our Kalman ...
