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Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions

Hilton Marques Souza Santana, João Carlos Virgolino Soares, Ylenia Nisticò, Marco Antonio Meggiolaro, Claudio Semini. Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions. In 23rd IEEE-RAS International Conference on Humanoid Robots, Humanoids 2024, Nancy, France, November 22-24, 2024. pages 213-220, IEEE, 2024. [doi]

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