# STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 41× · AI/ML

**Wikidata**: [openalex:W4225244428](https://www.wikidata.org/wiki/openalex:W4225244428)  
**Source**: https://4ort.xyz/entity/step-state-estimator-for-legged-robots-using-a-preintegrated-foot-velocity-factor