# Proprioceptive State Estimation for Quadruped Robots using Invariant Kalman Filtering and Scale-Variant Robust Cost Functions

arXiv: https://arxiv.org/abs/2410.05256 · HTML: https://mlsanity.com/paper/2410.05256/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 7 Oct 2024.

## Built on by (most cited first, 1 of 1)

- [SANDRO: a Robust Solver with a Splitting Strategy for Point Cloud Registration](https://mlsanity.com/paper/2503.07743/) (2025)

## Abstract (arXiv)

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This paper presents a new Invariant Extended Kalman filter for legged robot state estimation using only proprioceptive sensors. We formulate the methodology by combining recent advances in state estimation theory with the use of robust cost functions in the measurement update. We tested our methodology on quadruped robots through experiments and public datasets, showing that we can obtain a pose drift up to 40% lower in trajectories covering a distance of over 450m, in comparison with a state-of-the-art Invariant Extended Kalman filter.