ami-iit/paper_ramadoss-2022-iros-humanoid-base-estimation

[IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275

Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet

P. Ramadoss, S. Traversaro and D. Pucci "Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet" in IEEE 2022 International Conference on Intelligent Robots and Systems

IROS22_3387.mp4

2022 International Conference on Intelligent Robots and Systems

Installation and Usage | Paper

Installation and Usage

Please refer to the documentation in docs/usage.md.

Citing this work

If you find the work useful, please cite our publication:

  @INPROCEEDINGS{9982275,
  author={Ramadoss, Prashanth and Romualdi, Giulio and Dafarra, Stefano and Traversaro, Silvio and Pucci, Daniele},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet}, 
  year={2022},
  volume={},
  number={},
  pages={6780-6787},
  doi={10.1109/IROS47612.2022.9982275}}

Acknowledgements

• We would like to acknowledge the author of the repository https://github.com/NewGuy012/spider_plot which has been used to construct the error metrics comparison charts.

Maintainer

This repository is maintained by:

	Prashanth Ramadoss