{"id":"https://openalex.org/W4416748450","doi":"https://doi.org/10.1109/iros60139.2025.11247680","title":"KD-RIEKF: Kinodynamic Right-Invariant EKF for Legged Robot State Estimation","display_name":"KD-RIEKF: Kinodynamic Right-Invariant EKF for Legged Robot State Estimation","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416748450","doi":"https://doi.org/10.1109/iros60139.2025.11247680"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11247680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100315022","display_name":"Qi Yang","orcid":null},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Qi Yang","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5051875334","display_name":"Bin Lan","orcid":"https://orcid.org/0000-0001-9878-5106"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Bin Lan","raw_affiliation_strings":["Jianghuai Advanced Technology Center,Hefei,China,230000"],"affiliations":[{"raw_affiliation_string":"Jianghuai Advanced Technology Center,Hefei,China,230000","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103052163","display_name":"Bingjie Chen","orcid":"https://orcid.org/0000-0001-7689-2146"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bingjie Chen","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100426903","display_name":"Jingjing Wang","orcid":"https://orcid.org/0009-0003-5543-878X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Jingjing Wang","raw_affiliation_strings":["Jianghuai Advanced Technology Center,Hefei,China,230000"],"affiliations":[{"raw_affiliation_string":"Jianghuai Advanced Technology Center,Hefei,China,230000","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101927047","display_name":"Yi Cheng","orcid":"https://orcid.org/0000-0002-5851-1167"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yi Cheng","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061758136","display_name":"Yun Li","orcid":"https://orcid.org/0000-0003-2205-8089"},"institutions":[{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]},{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yizhe Li","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5076885280","display_name":"Houde Liu","orcid":"https://orcid.org/0000-0002-7314-3366"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]},{"id":"https://openalex.org/I3131625388","display_name":"University Town of Shenzhen","ror":"https://ror.org/05f5j6225","country_code":"CN","type":"education","lineage":["https://openalex.org/I3131625388"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Houde Liu","raw_affiliation_strings":["Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Shenzhen International Graduate School,Shenzhen,China,518055","institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5013703026","display_name":"Bin Liang","orcid":"https://orcid.org/0000-0001-9131-5478"},"institutions":[{"id":"https://openalex.org/I99065089","display_name":"Tsinghua University","ror":"https://ror.org/03cve4549","country_code":"CN","type":"education","lineage":["https://openalex.org/I99065089"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Liang","raw_affiliation_strings":["Tsinghua University,Department of Automation,Beijing,China,100084"],"affiliations":[{"raw_affiliation_string":"Tsinghua University,Department of Automation,Beijing,China,100084","institution_ids":["https://openalex.org/I99065089"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":8,"corresponding_author_ids":["https://openalex.org/A5100315022"],"corresponding_institution_ids":["https://openalex.org/I3131625388","https://openalex.org/I99065089"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.38264259,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12569","last_page":"12576"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9244999885559082,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9244999885559082,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.027899999171495438,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.007699999958276749,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.7540000081062317},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7305999994277954},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.5864999890327454},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5446000099182129},{"id":"https://openalex.org/keywords/acceleration","display_name":"Acceleration","score":0.5027999877929688},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.48159998655319214},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4569999873638153},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.4268999993801117},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.3993000090122223}],"concepts":[{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.7540000081062317},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7305999994277954},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.5864999890327454},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5446000099182129},{"id":"https://openalex.org/C117896860","wikidata":"https://www.wikidata.org/wiki/Q11376","display_name":"Acceleration","level":2,"score":0.5027999877929688},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.48159998655319214},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47929999232292175},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4569999873638153},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.4268999993801117},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.3993000090122223},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.37529999017715454},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.3368000090122223},{"id":"https://openalex.org/C29265498","wikidata":"https://www.wikidata.org/wiki/Q7047719","display_name":"Noise measurement","level":3,"score":0.30880001187324524},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.30489999055862427},{"id":"https://openalex.org/C8639503","wikidata":"https://www.wikidata.org/wiki/Q6059511","display_name":"Invariant extended Kalman filter","level":4,"score":0.3037000000476837},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.302700012922287},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3012999892234802},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.3001999855041504},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.299699991941452},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.29249998927116394},{"id":"https://openalex.org/C45374587","wikidata":"https://www.wikidata.org/wiki/Q12525525","display_name":"Computation","level":2,"score":0.27709999680519104},{"id":"https://openalex.org/C50050547","wikidata":"https://www.wikidata.org/wiki/Q6927137","display_name":"Moving horizon estimation","level":4,"score":0.274399995803833},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.2736999988555908},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27140000462532043},{"id":"https://openalex.org/C39425265","wikidata":"https://www.wikidata.org/wiki/Q7098944","display_name":"Optimal estimation","level":2,"score":0.2703000009059906},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.2700999975204468},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.2630000114440918},{"id":"https://openalex.org/C31531917","wikidata":"https://www.wikidata.org/wiki/Q915157","display_name":"Robust control","level":3,"score":0.25450000166893005}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11247680","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11247680","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W2107122120","https://openalex.org/W2149085596","https://openalex.org/W2577008596","https://openalex.org/W2776443693","https://openalex.org/W2804892083","https://openalex.org/W2889693550","https://openalex.org/W2909157769","https://openalex.org/W2963465704","https://openalex.org/W2981924303","https://openalex.org/W3022072906","https://openalex.org/W3033353027","https://openalex.org/W3130162259","https://openalex.org/W3130987264","https://openalex.org/W3175913924","https://openalex.org/W3178901079","https://openalex.org/W3205724045","https://openalex.org/W4237726214","https://openalex.org/W4387351182","https://openalex.org/W4388096643","https://openalex.org/W4389666229"],"related_works":[],"abstract_inverted_index":{"We":[0,106],"present":[1],"KD-RIEKF,":[2],"a":[3,29,62,70],"novel":[4],"state":[5,33,63],"estimation":[6,34,76,122,149,157],"framework":[7,20],"that":[8,137],"incorporates":[9],"kinodynamic":[10],"constraints":[11],"into":[12,61],"the":[13,53,56,91,97,129],"Right-Invariant":[14],"Extended":[15],"Kalman":[16],"Filter":[17],"(RIEKF).":[18],"Our":[19],"integrates":[21],"generalized":[22],"momentum-based":[23],"contact":[24,44],"estimation,":[25,94],"centroidal":[26],"dynamics,":[27],"and":[28,46,81,155,163],"noise-adaptive":[30],"module,":[31],"improving":[32],"accuracy":[35,164],"by":[36,153,158],"probabilistically":[37],"adjusting":[38],"propagation":[39],"noise":[40,88],"to":[41,124],"account":[42],"for":[43],"uncertainty":[45],"sensor":[47],"noise.":[48],"A":[49],"key":[50],"innovation":[51],"is":[52,99],"expansion":[54],"of":[55,85,93],"ground":[57],"reaction":[58],"force":[59],"(GRF)":[60],"variable.":[64],"By":[65],"using":[66],"GRF-based":[67],"acceleration":[68],"as":[69],"measurement,":[71],"our":[72,108,145],"method":[73,146],"significantly":[74],"reduces":[75],"errors":[77],"in":[78,110,119,139],"position,":[79],"velocity,":[80],"orientation.":[82],"The":[83],"integration":[84],"contact-force-driven":[86],"adaptive":[87],"effectively":[89],"boosts":[90],"stability":[92],"especially":[95],"when":[96],"system":[98],"undergoing":[100],"turning,":[101],"acceleration,":[102],"or":[103],"deceleration":[104],"processes.":[105],"validated":[107],"algorithm":[109],"simulation":[111],"on":[112,128],"highly":[113],"uneven":[114],"terrain,":[115],"showing":[116],"significant":[117],"enhancements":[118],"z-axis":[120],"position":[121,148],"compared":[123],"RIEKF.":[125],"Further":[126],"experiments":[127],"Unitree":[130],"Go2":[131],"robot":[132],"across":[133],"different":[134],"speeds":[135],"demonstrated":[136],"even":[138],"high-speed":[140],"scenarios":[141],"over":[142],"200":[143],"meters,":[144],"reduced":[147],"relative":[150],"error":[151],"(RE)":[152],"47%":[154],"orientation":[156],"42%,":[159],"confirming":[160],"its":[161],"robustness":[162],"under":[165],"dynamic":[166],"locomotion.":[167]},"counts_by_year":[],"updated_date":"2026-03-07T16:01:11.037858","created_date":"2025-11-28T00:00:00"}