legged_robot_state_estimation

This repository provides python code templates of different state estimators for legged robots.

Base state estimation

This estimator fuses IMU data with leg odometry in EKF and UKF estimation framework.

Centoridal state estimation

This estimator uses contact wrencehes and joint torque measurement to estimate the centroidal states.

Dependencies

numpy, pinocchio, matplotlib.

pip install numpy
pip install pin
pip install -U matplotlib