Base velocity estimation on ANYmal Hardware (walking test)
0.0863RMSE (X)URMA
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| URMASR (Sampling Range)=adap, Safe?=Partial, P:D gains=85.0:1.0, Payload=0 kg2025.10 | 0.0863 | 0.0701 | 0.0762 | |
| MorALSR (Sampling Range)=adap, Safe?=Partial, P:D gains=85.0:1.0, Payload=0 kg2025.10 | 0.0942 | 0.0797 | 0.108 | |
| PALSR (Sampling Range)=1, Safe?=Safe, P:D gains=85.0:0.5, Payload=13 kg2025.10 | 0.103 | 0.1322 | 0.0734 | |
| PALSR (Sampling Range)=1, Safe?=Safe, P:D gains=85.0:0.5, Payload=0 kg2025.10 | 0.1339 | 0.1181 | 0.0797 | |
| PALSR (Sampling Range)=1, Safe?=Safe, P:D gains=85.0:1.0, Payload=0 kg2025.10 | 0.1384 | 0.1148 | 0.0601 | |
| Particle FilterSR (Sampling Range)=adap, Safe?=Safe, P:D gains=85.0:0.5, Payload=13 kg2025.10 | 0.1477 | 0.1733 | 0.0872 | |
| Particle FilterSR (Sampling Range)=adap, Safe?=Safe, P:D gains=85.0:0.5, Payload=0 kg2025.10 | 0.1697 | 0.1595 | 0.0881 | |
| Particle FilterSR (Sampling Range)=adap, Safe?=Safe, P:D gains=85.0:1.0, Payload=0 kg2025.10 | 0.1771 | 0.1053 | 0.0824 |