COM motion estimation of a Humanoid robot based on a fusion of dynamics and kinematics information

Ken Masuya, Tomomichi Sugihara. COM motion estimation of a Humanoid robot based on a fusion of dynamics and kinematics information. In 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015, Hamburg, Germany, September 28 - October 2, 2015. pages 3975-3980, IEEE, 2015. [doi]