InEKFormer: A Hybrid State Estimator for Humanoid Robots

Description

Humanoid robots have great potential for a wide range of applications, including industrial and domestic use, healthcare, and search and rescue missions. However, bipedal locomotion in different environments is still a challenge when it comes to performing stable and dynamic movements. This is where state estimation plays a crucial role, providing fast and accurate feedback of the robot's floating base state to the motion controller. Although classical state estimation methods such as Kalman fil

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