Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics. Hwangbo, J., Bellicoso, C. D., Fankhauser, P., & Huttery, M. In International Conference on Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ, pages 3872–3878, 2016. IEEE.
bibtex   
@inproceedings{hwangbo2016probabilistic,
  title={Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics},
  author={Hwangbo, Jemin and Bellicoso, C. Dario and Fankhauser, P{\'e}ter and Huttery, Marco},
  booktitle={International Conference on Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ},
  pages={3872--3878},
  year={2016},
  organization={IEEE}
}
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