For navigation or pose estimation, strap-down microelectromechanical system (MEMS) IMUs are wildly used nowadays in all kinds of mobile devices, from mobile phones to cars and more. Off-road heavy-duty working machines are a massive industrial sector.

In an attempt to reduce system cost and improve robustness, this project use MEMS-based IMUs for estimating the state of manipulator joints, developing algorithms for pose estimation of arms with a floating base, and also for the whole body states estimation.