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simmediumlocomotionmetric · varies
LIKO: LiDAR, Inertial, and Kinematic Odometry for Bipedal Robots
Description
High-frequency and accurate state estimation is crucial for biped robots. This paper presents a tightly-coupled LiDAR-Inertial-Kinematic Odometry (LIKO) for biped robot state estimation based on an iterated extended Kalman filter. Beyond state estimation, the foot contact position is also modeled and estimated. This allows for both position and velocity updates from kinematic measurement. Additionally, the use of kinematic measurement results in an increased output state frequency of about 1kHz.