DogLegs：多腿部 IMU 实现足式机器人鲁棒本体状态估计
Original title: DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs
ResearchAI 85
Source: arXiv cs.ROPublish time unverified
arXiv:2503.04580v3 Announce Type: replace Abstract: Robust and accurate proprioceptive state estimation of the main body is crucial for legged robots to execute tasks in extreme environments where exteroceptive sensors, such as LiDARs and cameras, may become unreliable.