Sliding Mode Observer with No Orientation Measurement for a Walking Biped.

Vincent Lebastard Yannick Aoustin Franck Plestan Sliding Mode Observer with No Orientation Measurement for a Walking Biped. 399-406 2005 CLAWAR http://dx.doi.org/10.1007/3-540-26415-9_48 conf/clawar/2005 db/conf/clawar/clawar2005.html#LebastardAP05