{"id":"https://openalex.org/W4403676372","doi":"https://doi.org/10.1109/case59546.2024.10711647","title":"Contact Consistent Disturbance Estimation for Quadruped Robots","display_name":"Contact Consistent Disturbance Estimation for Quadruped Robots","publication_year":2024,"publication_date":"2024-08-28","ids":{"openalex":"https://openalex.org/W4403676372","doi":"https://doi.org/10.1109/case59546.2024.10711647"},"language":"en","primary_location":{"id":"doi:10.1109/case59546.2024.10711647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://hdl.handle.net/11511/112487","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5114372363","display_name":"Hasan Can \u00d6zden","orcid":null},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Hasan Can \u00d6zden","raw_affiliation_strings":["Middle East Technical University,Mechanical Engineering Department,Ankara,Turkey,06800"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Middle East Technical University,Mechanical Engineering Department,Ankara,Turkey,06800","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075041679","display_name":"Emre Tanfener","orcid":"https://orcid.org/0000-0002-4704-0857"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Emre Tanfener","raw_affiliation_strings":["Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5060142977","display_name":"Hasan Eftun Orhon","orcid":null},"institutions":[{"id":"https://openalex.org/I56303344","display_name":"Aselsan (Turkey)","ror":"https://ror.org/04knh8e66","country_code":"TR","type":"company","lineage":["https://openalex.org/I56303344"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Hasan Eftun Orhon","raw_affiliation_strings":["Aselsan Inc,Defense Systems Technologies Division,Ankara,Turkey,06200"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Aselsan Inc,Defense Systems Technologies Division,Ankara,Turkey,06200","institution_ids":["https://openalex.org/I56303344"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114372364","display_name":"\u00d6mer Tar\u0131k Banu\u015f","orcid":null},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"\u00d6mer Tar\u0131k Banu\u015f","raw_affiliation_strings":["Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071461538","display_name":"Uluc\u0323 Saranl\u0131","orcid":"https://orcid.org/0000-0002-2259-3578"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Ulu\u00e7 Saranl\u0131","raw_affiliation_strings":["Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5067544950","display_name":"Mustafa Mert Ankaral\u0131","orcid":"https://orcid.org/0000-0002-1235-5373"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Mert Ankaral\u0131","raw_affiliation_strings":["Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800","institution_ids":["https://openalex.org/I201799495"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5008860691","display_name":"Ali Emre Turgut","orcid":"https://orcid.org/0000-0002-9837-1007"},"institutions":[{"id":"https://openalex.org/I201799495","display_name":"Middle East Technical University","ror":"https://ror.org/014weej12","country_code":"TR","type":"education","lineage":["https://openalex.org/I201799495"]}],"countries":["TR"],"is_corresponding":false,"raw_author_name":"Ali Emre Turgut","raw_affiliation_strings":["Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Middle East Technical University,Center for Robotics and AI,Ankara,Turkey,06800","institution_ids":["https://openalex.org/I201799495"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.33885123,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1081","last_page":"1087"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9921000003814697,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9915000200271606,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/disturbance","display_name":"Disturbance (geology)","score":0.8705989122390747},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7545446157455444},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5614151358604431},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5509886741638184},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4070378243923187},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23581227660179138},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22422143816947937},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.20741358399391174},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08737695217132568},{"id":"https://openalex.org/keywords/systems-engineering","display_name":"Systems engineering","score":0.06586456298828125},{"id":"https://openalex.org/keywords/geomorphology","display_name":"Geomorphology","score":0.06092631816864014}],"concepts":[{"id":"https://openalex.org/C2777601987","wikidata":"https://www.wikidata.org/wiki/Q5283581","display_name":"Disturbance (geology)","level":2,"score":0.8705989122390747},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7545446157455444},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5614151358604431},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5509886741638184},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4070378243923187},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23581227660179138},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22422143816947937},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.20741358399391174},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08737695217132568},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.06586456298828125},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","level":1,"score":0.06092631816864014}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/case59546.2024.10711647","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case59546.2024.10711647","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE 20th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},{"id":"pmh:oai:https://open.metu.edu.tr:11511/112487","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/112487","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"20th IEEE International Conference on Automation Science and Engineering, CASE 2024","raw_type":"Conference Paper"}],"best_oa_location":{"id":"pmh:oai:https://open.metu.edu.tr:11511/112487","is_oa":true,"landing_page_url":"https://hdl.handle.net/11511/112487","pdf_url":null,"source":{"id":"https://openalex.org/S4306402495","display_name":"OpenMETU (Middle East Technical University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201799495","host_organization_name":"Middle East Technical University","host_organization_lineage":["https://openalex.org/I201799495"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"20th IEEE International Conference on Automation Science and Engineering, CASE 2024","raw_type":"Conference Paper"},"sustainable_development_goals":[{"score":0.7099999785423279,"id":"https://metadata.un.org/sdg/13","display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1969366849","https://openalex.org/W2018265839","https://openalex.org/W2128848325","https://openalex.org/W2149085596","https://openalex.org/W2150317946","https://openalex.org/W2158782408","https://openalex.org/W2567951864","https://openalex.org/W2600092780","https://openalex.org/W2771599024","https://openalex.org/W2889693550","https://openalex.org/W3125490529","https://openalex.org/W3180889492","https://openalex.org/W4289829174","https://openalex.org/W4387351182","https://openalex.org/W4401416252","https://openalex.org/W6767349745"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2038604956","https://openalex.org/W2296560746","https://openalex.org/W2338222801","https://openalex.org/W2347583731","https://openalex.org/W2106602008","https://openalex.org/W2067832159","https://openalex.org/W2153353177"],"abstract_inverted_index":{"Quadrupedal":[0],"locomotion":[1,139],"in":[2,10,130,140],"environments":[3],"without":[4],"visual":[5,28,144],"aid":[6],"presents":[7,46],"significant":[8],"challenges":[9],"achieving":[11],"automation":[12],"capabilities.":[13],"Often":[14],"relying":[15],"solely":[16],"on":[17],"IMU":[18],"sensors":[19],"and":[20,41,77,116,120],"proprioceptive":[21],"feedback":[22],"from":[23],"motors":[24],"due":[25],"to":[26,55,83,105,110],"limited":[27],"perception,":[29],"understanding":[30],"the":[31,67,96,107,124,127],"robot\u2019s":[32,58,108],"interaction":[33,65],"with":[34,66],"its":[35,64,134],"environment":[36],"becomes":[37],"crucial":[38],"for":[39,50,136],"safe":[40],"efficient":[42],"navigation.":[43],"This":[44],"paper":[45],"a":[47,56,60],"novel":[48],"approach":[49],"estimating":[51],"external":[52,87],"forces":[53],"applied":[54],"quadrupedal":[57,138],"body,":[59],"critical":[61],"aspect":[62],"of":[63,94,98,126],"environment.":[68],"Our":[69],"method":[70,129],"integrates":[71],"generalized":[72],"momentum":[73],"methods,":[74],"contact":[75],"constraints,":[76],"inertial":[78],"measurement":[79],"unit":[80],"(IMU)":[81],"data":[82],"accurately":[84],"estimate":[85],"these":[86,91],"forces.":[88],"By":[89],"using":[90],"diverse":[92],"sources":[93],"information,":[95],"output":[97],"this":[99],"work":[100],"can":[101],"enable":[102],"navigation":[103],"algorithms":[104],"enhance":[106],"ability":[109],"navigate":[111],"complex":[112],"environments,":[113],"improving":[114],"stability":[115],"adaptability.":[117],"Simulation":[118],"studies":[119],"experimental":[121],"validations":[122],"demonstrate":[123],"effectiveness":[125],"proposed":[128],"real-world":[131],"scenarios,":[132],"highlighting":[133],"potential":[135],"advancing":[137],"unfamiliar":[141],"terrains":[142],"where":[143],"aids":[145],"are":[146],"limited.":[147]},"counts_by_year":[],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
