State estimation for legged robots

• Main Author: Yap, Zhen Yan
• Other Authors: Domenico Campolo
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2024
• Subjects: Engineering; State estimation; Kalman filter; Quadruped robots
• Online Access: https://hdl.handle.net/10356/176016
• Institution: Nanyang Technological University

This report investigates the effectiveness of the current state estimation algorithm for quadruped robots that is suitable in a non-GPS denied environment, focusing on the application of Kalman Filters (Linear and Extended Kalman Filter). The primary objective is to evaluate its performance and comp...