# Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE

> Research article (IEEE Robotics and Automation Letters, 2024) · cited 10× · AI/ML

**Wikidata**: [openalex:W4403510626](https://www.wikidata.org/wiki/openalex:W4403510626)  
**Source**: https://4ort.xyz/entity/fast-decentralized-state-estimation-for-legged-robot-locomotion-via-ekf-and-mhe