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20232026
most citedAnalysis and Perspectives on the ANA Avatar XPRIZE Competition

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cs.RO2023

Centroidal State Estimation and Control for Hardware-constrained Humanoid Robots

Grzegorz Ficht, Sven Behnke

We introduce novel methods for state estimation, feedforward and feedback control, which specifically target humanoid robots with hardware limitations. Our method combines a five-m…