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Research questionHow can legged odometry remain accurate when foot contact does not guarantee reliable kinematics?Foot contact is often treated as evidence that a foot’s kinematic velocity is trustworthy. During dynamic motion, however, contact can coexist with partial support, dragging, or slip, allowing unreliable observations to accumulate trajectory drift.
Machine Learning
Robotics
Latest papersRecent research connected to this question, newest first.FOCUS: Foot Observation Confidence for Robust Humanoid Proprioceptive OdometryThe source addresses per-foot continuous FK-reliability weighting using only IMU and joint kinematic measurements, with fusion into an EKF alongside IMU-propagated body velocity. Evidence covers simulated walking, 19 real walking segments, and four real dynamic-motion routines; training uses automatically generated simulation signals without manually annotated continuous-reliability labels.research paper · Sep 2, 2026
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