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. 2023 Jul 24;13:11945. doi: 10.1038/s41598-023-38259-7

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Plot of the 3D velocity command controlled by a gamepad to command the real robot in blue. The red curve plots the output of the state estimation. The black plot is the motion capture of the real solo12 to convey the ground-truth base velocity. The purple plot is the yaw velocity estimate from the gyroscope in the IMU. The x-axis shows time in seconds.