{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,18]],"date-time":"2025-12-18T14:23:03Z","timestamp":1766067783996,"version":"3.37.3"},"reference-count":25,"publisher":"IEEE","license":[{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-029"},{"start":{"date-parts":[[2023,5,29]],"date-time":"2023-05-29T00:00:00Z","timestamp":1685318400000},"content-version":"stm-asf","delay-in-days":0,"URL":"https:\/\/doi.org\/10.15223\/policy-037"}],"funder":[{"DOI":"10.13039\/1000000010","name":"National Science Foundation","doi-asserted-by":"publisher","award":["CMMI-1825993"],"award-info":[{"award-number":["CMMI-1825993"]}],"id":[{"id":"10.13039\/1000000010","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2023,5,29]]},"DOI":"10.1109\/icra48891.2023.10160823","type":"proceedings-article","created":{"date-parts":[[2023,7,4]],"date-time":"2023-07-04T17:20:56Z","timestamp":1688491256000},"page":"9931-9937","source":"Crossref","is-referenced-by-count":4,"title":["On the Use of Torque Measurement in Centroidal State Estimation"],"prefix":"10.1109","author":[{"given":"Shahram","family":"Khorshidi","sequence":"first","affiliation":[{"name":"Max-Planck Institute for Intelligent Systems,Tübingen,Germany"}]},{"given":"Ahmad","family":"Gazar","sequence":"additional","affiliation":[{"name":"Max-Planck Institute for Intelligent Systems,Tübingen,Germany"}]},{"given":"Nicholas","family":"Rotella","sequence":"additional","affiliation":[{"name":"Agility Robotics,Oregon,USA"}]},{"given":"Maximilien","family":"Naveau","sequence":"additional","affiliation":[{"name":"LAAS-CNRS,Toulouse,France"}]},{"given":"Ludovic","family":"Righetti","sequence":"additional","affiliation":[{"name":"Max-Planck Institute for Intelligent Systems,Tübingen,Germany"}]},{"given":"Maren","family":"Bennewitz","sequence":"additional","affiliation":[{"name":"University of Bonn,Humanoid Robots Lab,Germany"}]},{"given":"Majid","family":"Khadiv","sequence":"additional","affiliation":[{"name":"Max-Planck Institute for Intelligent Systems,Tübingen,Germany"}]}],"member":"263","reference":[{"key":"ref13","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2969160"},{"key":"ref12","doi-asserted-by":"crossref","first-page":"4399","DOI":"10.1109\/ICRA.2018.8460904","article-title":"Contact model fusion for event-based locomotion in unstructured terrains","author":"bledt","year":"2018","journal-title":"2018 IEEE International Conference on Robotics and Automation (ICRA)"},{"key":"ref15","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2016.7758092"},{"key":"ref14","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2015.7363417"},{"key":"ref11","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341521"},{"key":"ref10","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2018.8462864"},{"key":"ref2","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2014.6942674"},{"key":"ref1","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9816.003.0008"},{"key":"ref17","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2976639"},{"key":"ref16","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA.2019.8793865"},{"journal-title":"Agility robotics cassie","year":"0","key":"ref19"},{"key":"ref18","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS47582.2021.9555782"},{"key":"ref24","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1977.1101601"},{"key":"ref23","doi-asserted-by":"publisher","DOI":"10.1109\/IROS.2008.4650772"},{"key":"ref25","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2020.3048125"},{"key":"ref20","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3061381"},{"key":"ref22","doi-asserted-by":"publisher","DOI":"10.7551\/mitpress\/9481.003.0034"},{"journal-title":"Analytical Dynamics","year":"1999","author":"baruh","key":"ref21"},{"key":"ref8","article-title":"Legged robot state estimation using invariant kalman filtering and learned contact events","author":"lin","year":"0","journal-title":"5th Annual Conference on Robot Learning"},{"key":"ref7","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2020.00068"},{"key":"ref9","doi-asserted-by":"publisher","DOI":"10.1109\/IROS40897.2019.8968152"},{"key":"ref4","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561037"},{"key":"ref3","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2014.7041346"},{"key":"ref6","doi-asserted-by":"publisher","DOI":"10.1109\/ICRA48506.2021.9561248"},{"key":"ref5","doi-asserted-by":"publisher","DOI":"10.1177\/0278364919894385"}],"event":{"name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","start":{"date-parts":[[2023,5,29]]},"location":"London, United Kingdom","end":{"date-parts":[[2023,6,2]]}},"container-title":["2023 IEEE International Conference on Robotics and Automation (ICRA)"],"original-title":[],"link":[{"URL":"http:\/\/xplorestaging.ieee.org\/ielx7\/10160211\/10160212\/10160823.pdf?arnumber=10160823","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2023,7,24]],"date-time":"2023-07-24T17:37:26Z","timestamp":1690220246000},"score":1,"resource":{"primary":{"URL":"https:\/\/ieeexplore.ieee.org\/document\/10160823\/"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2023,5,29]]},"references-count":25,"URL":"https:\/\/doi.org\/10.1109\/icra48891.2023.10160823","relation":{},"subject":[],"published":{"date-parts":[[2023,5,29]]}}}