A conjugate momentum observer estimates thruster forces on a simulated bipedal legged-aerial robot, using either direct ground-force knowledge or contact-constraint estimates.
Sliding Mode Momentum Observers for Estimation of External Torques and Joint Acceleration,
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Conjugate momentum based thruster force estimate in dynamic multimodal robot
A conjugate momentum observer estimates thruster forces on a simulated bipedal legged-aerial robot, using either direct ground-force knowledge or contact-constraint estimates.