{"id":"https://openalex.org/W2004982683","doi":"https://doi.org/10.1109/coase.2013.6654026","title":"Multisensor integrated stair recognition and parameters measurement system for dynamic stair climbing robots","display_name":"Multisensor integrated stair recognition and parameters measurement system for dynamic stair climbing robots","publication_year":2013,"publication_date":"2013-08-01","ids":{"openalex":"https://openalex.org/W2004982683","doi":"https://doi.org/10.1109/coase.2013.6654026","mag":"2004982683"},"language":"en","primary_location":{"id":"doi:10.1109/coase.2013.6654026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2013.6654026","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113503581","display_name":"Ren C. Luo","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ren C. Luo","raw_affiliation_strings":["Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082529472","display_name":"Ming Hsiao","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Ming Hsiao","raw_affiliation_strings":["Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037189836","display_name":"Che-Wei Liu","orcid":null},"institutions":[{"id":"https://openalex.org/I16733864","display_name":"National Taiwan University","ror":"https://ror.org/05bqach95","country_code":"TW","type":"education","lineage":["https://openalex.org/I16733864"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Che-Wei Liu","raw_affiliation_strings":["Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Center for Intelligent Robotics and Automation Research, National Taiwan University, Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]},{"raw_affiliation_string":"Center for Intell. Robot. & Autom. Res., Nat. Taiwan Univ., Taipei, Taiwan","institution_ids":["https://openalex.org/I16733864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I16733864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":19,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"318","last_page":"323"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9952999949455261,"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":0.9952999949455261,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9934999942779541,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace 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/T10531","display_name":"Advanced Vision and Imaging","score":0.9868999719619751,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/stair-climbing","display_name":"Stair climbing","score":0.893316388130188},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7405250668525696},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6769951581954956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5754112005233765},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5620698928833008},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.530971884727478},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5082651972770691},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.4654600918292999},{"id":"https://openalex.org/keywords/point-cloud","display_name":"Point cloud","score":0.4594792425632477},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40714579820632935}],"concepts":[{"id":"https://openalex.org/C2776319952","wikidata":"https://www.wikidata.org/wiki/Q2451755","display_name":"Stair climbing","level":2,"score":0.893316388130188},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7405250668525696},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6769951581954956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5754112005233765},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5620698928833008},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.530971884727478},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5082651972770691},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.4654600918292999},{"id":"https://openalex.org/C131979681","wikidata":"https://www.wikidata.org/wiki/Q1899648","display_name":"Point cloud","level":2,"score":0.4594792425632477},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40714579820632935},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/coase.2013.6654026","is_oa":false,"landing_page_url":"https://doi.org/10.1109/coase.2013.6654026","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":18,"referenced_works":["https://openalex.org/W1965386961","https://openalex.org/W2002480287","https://openalex.org/W2013243748","https://openalex.org/W2021683594","https://openalex.org/W2033574012","https://openalex.org/W2062060427","https://openalex.org/W2066160569","https://openalex.org/W2077088763","https://openalex.org/W2098764590","https://openalex.org/W2100768308","https://openalex.org/W2114009825","https://openalex.org/W2117547109","https://openalex.org/W2142696013","https://openalex.org/W2143826474","https://openalex.org/W2147631053","https://openalex.org/W2161168419","https://openalex.org/W2543925039","https://openalex.org/W6666211263"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W2029973929","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W2040913503","https://openalex.org/W2569658007","https://openalex.org/W2122871747","https://openalex.org/W3114279067"],"abstract_inverted_index":{"In":[0],"this":[1,51],"paper,":[2],"we":[3,53],"develop":[4],"an":[5],"online":[6,124],"real-time":[7],"system":[8,30,89],"using":[9,73],"Kinect":[10],"and":[11,18,42,83,99],"inertial":[12],"measurement":[13],"unit":[14],"(IMU)":[15],"to":[16,77,122],"recognize":[17],"measure":[19],"stairs":[20],"for":[21,46],"stair":[22,47,87,126],"climbing":[23,127],"tasks":[24],"of":[25,34,37,59,72],"erect":[26],"mobile":[27,120],"robots.":[28],"This":[29],"combines":[31],"the":[32,57,70],"ideas":[33],"statistical":[35],"characteristics":[36],"3D":[38,63,79],"point":[39],"cloud":[40],"data":[41,81],"adjustable":[43,74],"geometric":[44,75],"models":[45,76],"recognition":[48,88],"tasks.":[49,128],"Through":[50],"system,":[52],"not":[54],"only":[55],"verify":[56],"advantages":[58],"statistics":[60],"methods":[61],"in":[62],"environment":[64],"perception":[65,80],"process,":[66],"but":[67],"also":[68],"realize":[69],"idea":[71],"fit":[78],"correctly":[82],"efficiently.":[84],"Because":[85],"our":[86],"keeps":[90],"good":[91],"quality":[92],"results":[93],"(average":[94],"errors":[95],"within":[96],"\u00b10.4":[97],"cm)":[98],"less":[100],"time":[101],"consumption":[102],"(less":[103],"than":[104],"0.1":[105],"second":[106],"per":[107],"frame)":[108],"even":[109],"under":[110],"dynamic":[111,125],"situations,":[112],"it":[113,117],"is":[114],"expected":[115],"that":[116],"can":[118],"help":[119],"robots":[121],"achieve":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":4},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}