# Center-of-Mass Estimation for a Polyarticulated System in Contact—A Spectral Approach

> Research article (IEEE Transactions on Robotics, 2016) · cited 32× · AI/ML

**Wikidata**: [openalex:W2474963033](https://www.wikidata.org/wiki/openalex:W2474963033)  
**Source**: https://4ort.xyz/entity/center-of-mass-estimation-for-a-polyarticulated-system-in-contacta-spectral-approach