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A constrained Extended Kalman Filter for dynamically consistent inverse kinematics and inertial parameters identification

Vincent Bonnet, G. Daune, Vladimir Joukov, R. Dumas, Philippe Fraisse, Dana Kulic, Antoine Seilles, Sebastien Andary, Gentiane Venture. A constrained Extended Kalman Filter for dynamically consistent inverse kinematics and inertial parameters identification. In 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, BioRob 2016, Singapore, June 26-29, 2016. pages 944-949, IEEE, 2016. [doi]

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