Serena Ivaldi, Matteo Fumagalli, Marco Randazzo, Francesco Nori, Giorgio Metta, Giulio Sandini. Computing robot internal/external wrenches by means of inertial, tactile and F/T sensors: Theory and implementation on the iCub. In 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), Bled, Slovenia, October 26-28, 2011. pages 521-528, IEEE, 2011. [doi]
Abstract is missing.