Kendall Lowrey, Jeremy Dao, Emanuel Todorov. Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach. In 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016, Cancun, Mexico, November 15-17, 2016. pages 1225-1232, IEEE, 2016. [doi]
Abstract is missing.