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Pronto: A multi-sensor state estimator for legged robots in real-world scenarios

Abstract:

In this paper, we present a modular and flexible state estimation framework for legged robots operating in real-world scenarios, where environmental conditions, such as occlusions, low light, rough terrain, and dynamic obstacles can severely impair estimation performance. At the core of the proposed estimation system, called Pronto, is an Extended Kalman Filter (EKF) that fuses IMU and Leg Odometry sensing for pose and velocity estimation. We also show how Pronto can integrate pose correction...

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Publication status:
Published
Peer review status:
Peer reviewed

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Publisher copy:
10.3389/frobt.2020.00068

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Division:
MPLS
Department:
Engineering Science
Sub department:
Engineering Science
Role:
Author
ORCID:
0000-0003-2940-0879
Publisher:
Frontiers Media
Journal:
Frontiers in Robotics and AI More from this journal
Volume:
7
Publication date:
2020-06-05
Acceptance date:
2020-04-24
DOI:
EISSN:
2296-9144
Keywords:
Pubs id:
1116364
Local pid:
pubs:1116364
Deposit date:
2020-07-06

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