Joint angle estimation for floating base robots utilizing MEMS IMUs. - Xiaolong Zhang; Eelis Peltola; Jouni Mattila (CIS/RAM, 2017)

Angle Estimation for Robotic Arms on Floating Base Using Low-Cost IMUS. - Xiaolong Zhang; Eelis Peltola; Jouni Mattila (ICRA, 2018)