In one of the first PhD defenses for Michigan Robotics, Ross Hartley talks on improving the performance of legged robots.
Hartley presented this defense, "Contact-Aided State Estimation on Lie groups for Legged Robot Mapping and Control", on May 10, 2019.
More on...
Ross Hartley's work: scholar.google.com/citations?...
Biped Robotics Lab: www.biped.solutions
University of Michigan Robotics: robotics.umich.edu