Probabilistic foot contact estimation by fusing information from dynamics and differential/forward kinematics

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Learning quadrupedal locomotion over challenging terrain (2020, neutral): “To trigger transitions between states or the execution of a reﬂex, many systems explicitly estimate states such as ground contact and slippage [6–8].”
Dynamic Locomotion on Slippery Ground (2019, methodology): “We will use the notation introduced in [6], i.”
Contact-aided invariant extended Kalman filtering for robot state estimation (2019, background): “Hwangbo et al. [50] formulated a probabilistic contact estimator for cases when contact sensors are unavailable.”
Contact Model Fusion for Event-Based Locomotion in Unstructured Terrains (2018, methodology): “This provides a simpler solution than the HMM approach in [5] and further demonstrates a sensing delay superior to or equal to all resuls provided in the HMM method.”
Probabilistic Contact Estimation and Impact Detection for State Estimation of Quadruped Robots (2017, background): “[17] developed a probabilistic contact estimator to control the quadruped electric robot ANYmal without foot sensors.”