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Real-time state estimation with whole-body multi-contact dynamics: A modified UKF approach

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]

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Kendall Lowrey

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Jeremy Dao

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Emanuel Todorov

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