The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jul. 28, 2026
Filed:
Apr. 26, 2024
Zhejiang University, Hangzhou, CN;
Yue Wang, Hangzhou, CN;
Shenhan Jia, Hangzhou, CN;
Fuzhang Han, Hangzhou, CN;
Rong Xiong, Hangzhou, CN;
ZHEJIANG UNIVERSITY, Hangzhou, CN;
Abstract
A high-precision odometry estimation method based on a double-layer filtering framework, comprising the following steps: acquiring sensing information of a binocular camera, a main body IMU, a legged auxiliary IMU, a legged joint motor and a foot end force sensor; fusing the rotation angle and rotational velocity of the legged joint motor, and the measurement information of the legged auxiliary IMU and the foot end force sensor by a bottom-layer legged filter to obtain a velocity observation in a legged auxiliary IMU coordinate system; then inputting the velocity observation into an upper-layer filter, and fusing the acquired observation information of the main body IMU and binocular camera by the upper-layer filter to complete information fusion and outputting an odometry estimation result of a robot. The method can provide an effective solution for the autonomous positioning of the quadruped mobile robot in the rapid movement.
Data source: USPTO (United States Patent and Trademark Office) public patent records. Weekly synchronization. How IDiyas builds this profile