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    Learning-Assisted Multi-IMU Proprioceptive State Estimation for Quadruped Robots

    Learning-Assisted Multi-IMU Proprioceptive State Estimation for Quadruped Robots by Xuanning Liu, Yajie Bao, Peng Cheng, Dan Shen, Zhengyang Fan, Hao Xu, Genshe Chen

    Published 2025-06-01

    This paper presents a learning-assisted approach for state estimation of quadruped robots using observations of proprioceptive sensors, including multiple inertial measurement units (IMUs). Specifically, one body IMU and four additional IMUs attached to each calf link of the robot are used for sensi...

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