# Invariant Smoother for Legged Robot State Estimation With Dynamic Contact Event Information

> Research article (IEEE Transactions on Robotics, 2023) · cited 17× · AI/ML

**Wikidata**: [openalex:W4388096643](https://www.wikidata.org/wiki/openalex:W4388096643)  
**Source**: https://4ort.xyz/entity/invariant-smoother-for-legged-robot-state-estimation-with-dynamic-contact-event-information