Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach

Justin Carpentier, Mehdi Benallegue, Nicolas Mansard, Jean-Paul Laumond. Center-of-Mass Estimation for a Polyarticulated System in Contact - A Spectral Approach. IEEE Transactions on Robotics, 32(4):810-822, 2016. [doi]

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