DILIGENT-KIO: A Proprioceptive Base Estimator for Humanoid Robots using Extended Kalman Filtering on Matrix Lie Groups
This paper presents a contact-aided inertial-kinematic floating base est...
A Benchmarking of DCM Based Architectures for Position, Velocity and Torque Controlled Humanoid Robots
This paper contributes towards the benchmarking of control architectures...
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