# Estimating Contact Forces and Moments for Walking Robots and Exoskeletons Using Complementary Energy Methods

> Research article (IEEE Robotics and Automation Letters, 2018) · cited 12× · AI/ML

**Wikidata**: [openalex:W2812436266](https://www.wikidata.org/wiki/openalex:W2812436266)  
**Source**: https://4ort.xyz/entity/estimating-contact-forces-and-moments-for-walking-robots-and-exoskeletons-using-complementary-energy-methods