# Legged Robot State Estimation in Slippery Environments Using Invariant Extended Kalman Filter with Velocity Update

> Research article (2021 IEEE International Conference on Robotics and Automation (ICRA), 2021) · cited 54× · AI/ML

**Wikidata**: [openalex:W3205724045](https://www.wikidata.org/wiki/openalex:W3205724045)  
**Source**: https://4ort.xyz/entity/legged-robot-state-estimation-in-slippery-environments-using-invariant-extended-kalman-filter-with-velocity-update