{"id":"https://openalex.org/W2199354643","doi":"https://doi.org/10.1109/humanoids.2015.7363425","title":"Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation","display_name":"Fusion of force-torque sensors, inertial measurements units and proprioception for a humanoid kinematics-dynamics observation","publication_year":2015,"publication_date":"2015-11-01","ids":{"openalex":"https://openalex.org/W2199354643","doi":"https://doi.org/10.1109/humanoids.2015.7363425","mag":"2199354643"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids.2015.7363425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"},"type":"preprint","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/A5021406076","display_name":"Mehdi Benallegue","orcid":"https://orcid.org/0000-0001-7537-9498"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":true,"raw_author_name":"Mehdi Benallegue","raw_affiliation_strings":["CNRS, Toulouse, France","Univ de Toulouse, Toulouse, LAAS, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, Toulouse, LAAS, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091488202","display_name":"Alexis Mifsud","orcid":null},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Alexis Mifsud","raw_affiliation_strings":["CNRS, Toulouse, France","Univ de Toulouse, Toulouse, LAAS, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, Toulouse, LAAS, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5091327522","display_name":"Florent Lamiraux","orcid":"https://orcid.org/0000-0002-8757-567X"},"institutions":[{"id":"https://openalex.org/I1294671590","display_name":"Centre National de la Recherche Scientifique","ror":"https://ror.org/02feahw73","country_code":"FR","type":"government","lineage":["https://openalex.org/I1294671590"]},{"id":"https://openalex.org/I17866349","display_name":"Universit\u00e9 F\u00e9d\u00e9rale de Toulouse Midi-Pyr\u00e9n\u00e9es","ror":"https://ror.org/004raaa70","country_code":"FR","type":"education","lineage":["https://openalex.org/I17866349"]},{"id":"https://openalex.org/I190497903","display_name":"Laboratoire d'Analyse et d'Architecture des Syst\u00e8mes","ror":"https://ror.org/03vcm6439","country_code":"FR","type":"facility","lineage":["https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I1294671590","https://openalex.org/I190497903","https://openalex.org/I196454796","https://openalex.org/I205747304","https://openalex.org/I205747304","https://openalex.org/I4210095849","https://openalex.org/I4210159245","https://openalex.org/I4387153255","https://openalex.org/I4405258862","https://openalex.org/I4405258862","https://openalex.org/I4405258862"]}],"countries":["FR"],"is_corresponding":false,"raw_author_name":"Florent Lamiraux","raw_affiliation_strings":["CNRS, Toulouse, France","Univ de Toulouse, Toulouse, LAAS, France"],"affiliations":[{"raw_affiliation_string":"CNRS, Toulouse, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I1294671590"]},{"raw_affiliation_string":"Univ de Toulouse, Toulouse, LAAS, France","institution_ids":["https://openalex.org/I17866349","https://openalex.org/I190497903"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5021406076"],"corresponding_institution_ids":["https://openalex.org/I1294671590","https://openalex.org/I17866349","https://openalex.org/I190497903"],"apc_list":null,"apc_paid":null,"fwci":1.0887,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":{"value":0.77515732,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"664","last_page":"669"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991999864578247,"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":0.9991999864578247,"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":0.989300012588501,"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/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9746000170707703,"subfield":{"id":"https://openalex.org/subfields/3612","display_name":"Physical Therapy, Sports Therapy and Rehabilitation"},"field":{"id":"https://openalex.org/fields/36","display_name":"Health Professions"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7095557451248169},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.6830694675445557},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6174556016921997},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.6051540970802307},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5829033255577087},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5617987513542175},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.5476093888282776},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.5337719917297363},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5252910852432251},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4182780086994171},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.41742849349975586},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.32883286476135254},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.2954808175563812},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2802343964576721},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.22272524237632751}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7095557451248169},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.6830694675445557},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6174556016921997},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.6051540970802307},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5829033255577087},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5617987513542175},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.5476093888282776},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.5337719917297363},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5252910852432251},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4182780086994171},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.41742849349975586},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.32883286476135254},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.2954808175563812},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2802343964576721},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.22272524237632751},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids.2015.7363425","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids.2015.7363425","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Affordable and clean energy","id":"https://metadata.un.org/sdg/7","score":0.46000000834465027}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":22,"referenced_works":["https://openalex.org/W129643872","https://openalex.org/W1978815112","https://openalex.org/W1987580649","https://openalex.org/W2009210083","https://openalex.org/W2046636826","https://openalex.org/W2056679719","https://openalex.org/W2061640077","https://openalex.org/W2103755599","https://openalex.org/W2106863585","https://openalex.org/W2116501050","https://openalex.org/W2123109979","https://openalex.org/W2153190828","https://openalex.org/W2158449659","https://openalex.org/W2159721734","https://openalex.org/W2161556708","https://openalex.org/W2168936093","https://openalex.org/W2169155458","https://openalex.org/W2170116736","https://openalex.org/W2203260532","https://openalex.org/W2215881691","https://openalex.org/W2296360731","https://openalex.org/W6605425664"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2091018038","https://openalex.org/W2129850190","https://openalex.org/W4256317079","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2225378543","https://openalex.org/W1974803039","https://openalex.org/W2785359964","https://openalex.org/W2382856674"],"abstract_inverted_index":{"We":[0],"present":[1],"a":[2,50,77],"scheme":[3],"where":[4],"the":[5,54,56],"measurements":[6],"obtained":[7],"through":[8],"inertial":[9],"measurement":[10],"units":[11],"(IMU),":[12],"contact-force":[13],"sensors":[14],"and":[15,49,67,71],"proprioception":[16],"(joint":[17],"encoders)":[18],"are":[19],"merged":[20],"in":[21],"order":[22],"to":[23],"observe":[24],"humanoid":[25],"unactuated":[26],"floating-base":[27],"dynamics.":[28,59],"The":[29,40,60],"sensor":[30],"data":[31],"fusion":[32],"is":[33,43,62],"implemented":[34],"using":[35,64],"an":[36],"Extended":[37],"Kalman":[38],"Filter.":[39],"prediction":[41],"part":[42],"constituted":[44],"by":[45],"viscoelastic":[46],"contacts":[47],"assumption":[48],"model":[51],"expressing":[52],"at":[53],"origin":[55],"full":[57],"body":[58],"correction":[61],"achieved":[63],"embedded":[65],"IMU":[66],"force":[68],"sensor.":[69],"Simulation":[70],"experimentation":[72],"on":[73],"HRP-2":[74],"robot":[75],"show":[76],"state":[78],"observation":[79],"with":[80],"improves":[81],"inter-sensor":[82],"consistency":[83],"but":[84],"also":[85],"increased":[86],"reconstruction":[87],"accuracy.":[88]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":2}],"updated_date":"2026-03-25T13:04:00.132906","created_date":"2025-10-10T00:00:00"}