@INPROCEEDINGS{Rotella2016, 
author={N. Rotella and S. Mason and S. Schaal and L. Righetti}, 
booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)}, 
title={Inertial sensor-based humanoid joint state estimation}, 
year={2016}, 
volume={}, 
number={}, 
pages={1825-1831}, 
keywords={acceleration measurement;angular velocity measurement;calibration;differentiation;feedback;gyroscopes;humanoid robots;hydraulic systems;inertial systems;potentiometers;signal processing;state estimation;time-varying systems;IMU;SARCOS hydraulic humanoid;calibration routines;gyroscope angular velocities;humanoid robot joint acceleration determination;humanoid robot joint velocity determination;inertial sensor-based humanoid joint state estimation;joint feedback control;joint position measurements;joint potentiometer signals;link IMU poses;link-mounted inertial measurement units;numerical differentiation;three-axis accelerometer;three-axis gyroscope;time-varying gyroscope biases;Acceleration;Accelerometers;Angular velocity;Gyroscopes;Robot sensing systems;Velocity measurement}, 
doi={10.1109/ICRA.2016.7487328}, 
ISSN={}, 
month={May},}