DogLegs：多腿部 IMU 实现足式机器人鲁棒本体状态估计
原标题：DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUs
技术动态AI 85
来源：arXiv cs.RO发布时间待核实
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. In this paper, we propose DogLegs, a state estimation system for legged robots that fuses the measurements from a body-mounted inertial measurement unit (Body-IMU), joint encoders, and multiple leg-mounted IMUs (Leg-IMU) using an…