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paper_ramadoss-2022-iros-humanoid-base-estimation

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[IROS 2022] EKF Comparison - Humanoid Base Estimators; IEEE Xplore: https://ieeexplore.ieee.org/document/9982275

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<h1 align="center">
Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet
</h1>
<div align="center">
<i>
P. Ramadoss, S. Traversaro and D. Pucci "Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet" in IEEE 2022 International Conference on Intelligent Robots and Systems
</i>
</div>

https://user-images.githubusercontent.com/6506093/196138116-7da131c4-055d-49b3-b8f8-3f4ef8099050.mp4

</p>

<div align="center">
  2022 International Conference on Intelligent Robots and Systems
</div>

<div align="center">
<a href="#installation-and-usage"><b>Installation and Usage</b></a> |
<a href="https://ieeexplore.ieee.org/document/9982275"><b>Paper</b></a> 
</div>

### Installation and Usage

Please refer to the documentation in [docs/usage.md](./docs/usage.md).

### Citing this work

If you find the work useful, please cite our publication:

```
  @INPROCEEDINGS{9982275,
  author={Ramadoss, Prashanth and Romualdi, Giulio and Dafarra, Stefano and Traversaro, Silvio and Pucci, Daniele},
  booktitle={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, 
  title={Comparison of EKF-Based Floating Base Estimators for Humanoid Robots with Flat Feet}, 
  year={2022},
  volume={},
  number={},
  pages={6780-6787},
  doi={10.1109/IROS47612.2022.9982275}}
```

### Acknowledgements

- We would like to acknowledge the author of the repository https://github.com/NewGuy012/spider_plot which has been used to construct the error metrics comparison charts.

### Maintainer

This repository is maintained by:

| | |
|:---:|:---:|
| [<img src="https://github.com/prashanthr05.png" width="40">](https://github.com/prashanthr05) | [Prashanth Ramadoss](https://github.com/prashanthr05) |

paper_ramadoss-2022-iros-humanoid-base-estimation

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