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The large error of state estimator #16

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hxydebug opened this issue Feb 26, 2025 · 0 comments
Open

The large error of state estimator #16

hxydebug opened this issue Feb 26, 2025 · 0 comments

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@hxydebug
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Sorry to bother you. Right now I am using this your project to estimate my biped robot. But I found there are many errors of my estimated orientation and COM position in world frame. What can I do to decrease the error? Is the initial guess very important for my problem?
Meanwhile, I found the CoM position in z direction is drifting. Is it because this code do not set z = 0 when foot contact the ground?
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@hxydebug