arxivcs.RO2026-07-10
Chalito: An Extensible Library for Filtering-Based State Estimation in Quadruped Robots
Hilton Marques Souza Santana, João Carlos Virgolino Soares, Marco Antonio Meggiolaro, Claudio Semini
State estimation is essential for quadruped robots, enabling robust locomotion, navigation, and control. While many estimators have been proposed in the literature, existing implementations are often tied to specific robots or software stacks, making fair comparisons difficult. T…