A Hybrid Motion Model for Aiding State Estimation in Dynamic Quadrupedal Locomotion. Singh, S. P. N. & Waldron, K. J. In International Conference on Robotics and Automation, pages 4337-4342, 2007.
doi  bibtex   
@INPROCEEDINGS{icra.2007,
  author = {Singh, S. P. N. and Waldron, K. J.},
  title = {{A Hybrid Motion Model for Aiding State Estimation in Dynamic Quadrupedal
	Locomotion}},
  booktitle = {International Conference on Robotics and Automation},
  year = {2007},
  pages = {4337-4342},
  doi = {10.1109/ROBOT.2007.364147}
}

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