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Research questionHow can legged robots maintain accurate proprioceptive body-state estimates when cameras and LiDAR become unreliable?When cameras and LiDARs become unreliable, a legged robot must estimate its body motion from onboard proprioceptive measurements alone. Contact changes, leg motion, and inertial-sensor drift make that estimate difficult across varied terrain.
Robotics
Latest papersRecent research connected to this question, newest first.DogLegs: Robust Proprioceptive State Estimation for Legged Robots Using Multiple Leg-Mounted IMUsThe source describes DogLegs, an extended Kalman filter that fuses a body-mounted IMU, joint encoders, and multiple leg-mounted IMUs. Leg-mounted IMUs detect foot contact and provide relative kinematic constraints for updating the body and individual IMU states. Field experiments across various terrains compare the system with traditional leg odometry; code and datasets are publicly available.research paper · Sep 3, 2026
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