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Mehdi Benallegue, Rafael Cisneros 0001, Abdelaziz Benallegue, Yacine Chitour, Mitsuharu Morisawa, Fumio Kanehiro. Lyapunov-Stable Orientation Estimator for Humanoid Robots. IEEE Robotics and Automation Letters, 5(4):6371-6378, 2020. [doi]