足式机器人触地检测方法的研究综述

姜晓勇,应凯健,吴起威,魏璇

Research overview on touchdown detection methods for footed robots

Xiaoyong JIANG,Kaijian YING,Qiwei WU,Xuan WEI

图 2 基于卡尔曼滤波器的触地检测原理图

Fig.2 Schematic diagram of touchdown detection based on Kalman filter