Zi-Xuan Wang

Proprioceptive Estimation of External Wrenches for Legged Robots Using Enhanced Momentum-Based Kalman Filter

Fast and accurate measurement of external disturbances is critical for legged robots in complex environments. While physical force/torque (F/T) sensors provide direct measurements, they are susceptible to high-frequency noise and mechanical damage. To address this challenge, this article proposes a proprioceptive measu...