Paper

Learning Contact Representation for Leg Odometry

arXiv:2606.05501v1 Announce Type: new Abstract: The estimation of odometry in legged robots depends on the assumption that the velocity of the foot with respect to the world remains zero during the stance phase. Feedback for the main body velocity is derived from the kinematic serial chain of the feet making accurate leg phase detection is a critical subproblem. A considerable number of studies employ ground reaction force sensors mounted at the tip of the foot to classify, yet these sensors may not be universally available for all legged robots. Additionally, these sensors are often unrespon…

Authors:

Related discussions