Long-Wen Chen

LAG-IO: Multi-IMU State Estimation for Legged Robots Using Factor Graphs

Robust proprioceptive state estimation is crucial for legged robots, particularly in challenging environments where exteroceptive sensors are unreliable. While traditional leg odometry typically relies on a single body-mounted inertial measurement unit (IMU) fused with leg kinematics via an extended Kalman filter (EKF)...