Open LeviD536 opened 5 years ago
Thanks for your sharing. The example code works well with my own biped robot walk data.
But I am puzzled with the derivation of some equations in the paper titled
Contact-Aided Invariant Extended Kalman Filtering for Legged Robot State Estimation.
Could you please provide the full derivation of equation (20), the individual terms of the invariant error dynamics?
Thank you!
RIEKF_ErrorDynamics.pdf
Let me know if that answers your question. It is simply applying the chain rule and making a first-order approximation.
@RossHartley Thanks very much for your file. It exactly answers my question :)
Thanks for your sharing. The example code works well with my own biped robot walk data.
But I am puzzled with the derivation of some equations in the paper titled
Could you please provide the full derivation of equation (20), the individual terms of the invariant error dynamics?
Thank you!