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	Journal 	   		   = {Frontiers in Robotics and AI},
	Year		 		   = {2020},
	Pages        		   = {},
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	Owner		 		   = {},
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@Article{Rotella,
	Title      			   = {State Estimation for a Humanoid Robot},
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	Year		 		   = {2014},
	Pages        		   = {952--958},
	Volume       		   = {},
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	Year		 		   = {2020},
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	Title        		   = {Dead Reckoning Navigation For Walking Robots},
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	Title        		   = {State Estimation for Legged Robots on Unstable and Slippery Terrain},
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	Journal 	 		   = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
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@Article{MCamurri,
	Title        		   = {Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots},
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	Year		 		   = {2017},
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@Article{Fallon,
	Title        		   = {Drift-free humanoid state estimation fusing kinematic, inertial and LIDAR sensing},
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	Year		 		   = {2014},
	Pages        		   = {112-119},
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@Article{Fourmy,
	Title        		   = {Contact forces preintegration for estimation in legged robotics using factor graphs},
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	Journal 	 		   = {IEEE International Conference on Robotics and Automation (ICRA)},
	Year		 		   = {2021},
	Pages        		   = {1372-1378},
	Volume       		   = {},
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@Article{Hartley,
	Title        		   = {Contact-aided invariant extended Kalman filtering for robot state estimation},
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	Journal 	 		   = {The International Journal of Robotics Research},
	Year		 		   = {2020},
	Pages        		   = {402-430},
	Volume       		   = {39},
	Number		 		   = {4},
	
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@Article{Peter,
	Title        		   = {ANYmal: A Unique Quadruped Robot Conquering Harsh Environments},
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	DOI					   = {10.3929/ethz-b-000262484}
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@Book{Lynch,
	Title                    = {Modern Robotics Mechanics Planning, and Control},
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	Author                   = {Roy Featherstone},
	Publisher                = {Springer},
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@Book{Schneider,
	Title                    = {Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing},
	Author                   = {A. Schneider, and U. Schmucker},
	Publisher                = {London: IntechOpen},
	Year                     = {2006},
	Pages        		     = {453},
	Address                  = {},
	Series                   = {},
	Doi						 = {10.5772/34}
	Owner                    = {},
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@Electronic{Sola,
	Title                    = {Quaternion Kinematics for the Error-State Kalman Filter},
	Author                   = {Joan Sola},
	HowPublished             = {},
	Year                     = {2017},
	Journal                  = {arXiv preprint arXiv:1711.02508},

	Pages                    = {},
	Volume                   = {}
}

@misc{Pinocchioweb,
	Author 			= {Justin Carpentier and Florian Valenza and Nicolas Mansard and others},
	Title  			= {Pinocchio: fast forward and inverse dynamics for poly-articulated systems},
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	Year 			= {2015--2021}
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@misc{coumans2020,
	Author 			= {Erwin Coumans and Yunfei Bai},
	Title  			= {PyBullet, a Python module for physics simulation for games, robotics
	and machine learning},
	Howpublished 	= {\url{http://pybullet.org}},
	Year 			= {2016--2020}
}

@misc{Hardwaregit,
	Author			= {F. Grimminger},
	Title  			= {Open Robot Actuator Hardware - Quadruped \uppercase{S}olo12 with 12\uppercase{D}o\uppercase{F}},
	Howpublished 	= {\url{https://github.com/open-dynamic-robot-initiative/open\_robot\_actuator\_hardware}},
	Year 			= {2019--2021}
}
@misc{Boston,
	Author			= {},
	Title  			= {Boston Dynamics Spot},
	Howpublished 	= {\url{https://www.bostondynamics.com/products/spot}},
	Year 			= {}
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@misc{MinM,
	author = {},
	title = {Machines in Motion Laboratory},
	year = {},
	publisher = {GitHub},
	journal = {GitHub repository},
	howpublished = {\url{https://github.com/machines-in-motion}},
	commit = {}
}