Model-Based External Force/Moment Estimation for Humanoid Robots with no Torque Measurement. - Mehdi Benallegue; Pierre Gergondet; Herve Audrerr; Alexis Mifsud; Mitsuharu Morisawa; Florent Lamiraux; Abderrahmane Kheddar; Fumio Kanehiro (ICRA, 2018)