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Center of Mass Estimator for Humanoids and its Application in Modelling Error Compensation, Fall Detection and Prevention

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Figure

Fig. 1. Computed CoM, measured CoP and their difference in the horizontal ground plane.
Fig. 2. Plot of the estimated CoM offset, and the difference between CoM and CoP after applying CoM offset during a static walk
Fig. 3. Plot of the estimated CoM velocity, from the CoM offset estimator, and from full body kinematics starting at the root.
Fig. 4. For the manipulation controller, the robot is in double support and pushed back by an external force
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