On the Use of Torque Measurement in Centroidal State Estimation

State of the art legged robots are either capable of measuring torque at the output of their drive systems, or have transparent drive systems which enable the computation of joint torques from motor currents. In either case, this sensor modality is seldom used in state estimation. In this paper, we...

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Bibliographic Details

Main Authors:	Khorshidi, Shahram, Gazar, Ahmad, Rotella, Nicholas, Naveau, Maximilien, Righetti, Ludovic, Bennewitz, Maren, Khadiv, Majid
Format:	Journal Article
Language:	English
Published:	25-02-2022
Subjects:	Computer Science - Robotics
Online Access:	Get full text
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