@inproceedings{TrDAn10, title = {Accelerometer-based Tilt Estimation of a Rigid Body with only Rotational Degrees of Freedom}, author = {Trimpe, Sebastian and D'Andrea, Raffaello}, booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation}, year = {2010}, doi = {10.1109/ROBOT.2010.5509756} }