notesum.ai

Published at December 4

cs.RO

cs.SY

eess.SY

Released Date: December 4, 2024

Authors: J. Joe Payne¹, Daniel A. Hagen², Denis Garagić, Aaron M. Johnson¹

Aff.: ¹Carnegie Mellon University, Pittsburgh, PA, USA; ²Palladyne AI Corporation, Salt Lake City UT, USA

	Rough Ground	Non-inertial Base Frame	No Hardware Modification	Low Speed
Proposed Method	✓	✓	✓	✓
Leg-Momentum Observer [11]	✗	✗	✓	✗
Contact Sensor [13, 3, 4]	✓	✓	✗	✓
Foot IMU [16]	✓	✓	✓	✗