Robust estimation of walking robots velocity and tilt using proprioceptive sensors data fusion

Pawel Wawrzynski, Jakub Mozaryn, Jan Klimaszewski

Abstract: Highlights•A method of velocity and tilt estimation in mobile, possibly legged robots based on on-board sensors.•Robustness to inertial sensor biases, and observations of low quality or temporal unavailability.•A simple framework for modeling of legged robot kinematics with foot twist taken into account.