STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor
Yeeun Kim, Byeongho Yu, Eungchang Mason Lee, Joon-Ha Kim, Hae-Won Park, Hyun Myung
Abstract
Wepropose a novel state estimator for legged robots, <i>STEP</i>, achieved through a novel preintegrated foot velocity factor. In the preintegrated foot velocity factor, the usual non-slip assumption is not adopted. Instead, the end effector velocity becomes observable by exploiting the body speed obtained from a stereo camera. In other words, the preintegrated end effector’s pose can be estimated. Another advantage of our approach is that it eliminates the necessity for a contact detection step, unlike the typical approaches. The proposed method has also been validated in harsh-environment simulations and real-world experiments containing uneven or slippery terrains.