# Estimation of contact forces and floating base kinematics of a humanoid robot using only Inertial Measurement Units

> Research article (2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015) · cited 19× · AI/ML

**Wikidata**: [openalex:W2203260532](https://www.wikidata.org/wiki/openalex:W2203260532)  
**Source**: https://4ort.xyz/entity/estimation-of-contact-forces-and-floating-base-kinematics-of-a-humanoid-robot-using-only-inertial-measurement-units