Closed ZY17740963779 closed 6 months ago
The position of the IMU on the Unitree A1 robot is actually very close to the CoM of the trunk. In the biped form as HECTOR, the IMU is slightly above the battery of the A1 body. In the hardware, we use a fusion of IMU reading and t265 camera reading as our state estimation data.
thanks for your answer!
thanks for your great work!!! I am confused about how to determine the installation position of the IMU in the actual robot?