STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor

Wepropose a novel state estimator for legged robots, STEP, achieved through preintegrated foot velocity factor. In the factor, usual non-slip assumption is not adopted. Instead, end effector becomes observable by exploiting body speed obtained from stereo camera. other words, effector’s pose can be estimated. Another advantage of our approach that it eliminates necessity contact detection step, unlike typical approaches. The proposed method has also been validated in harsh-environment simulations and real-world experiments containing uneven or slippery terrains.