{"id":"https://openalex.org/W4313563112","doi":"https://doi.org/10.1109/humanoids53995.2022.10000199","title":"Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter","display_name":"Estimation of Human Base Kinematics using Dynamical Inverse Kinematics and Contact-Aided Lie Group Kalman Filter","publication_year":2022,"publication_date":"2022-11-28","ids":{"openalex":"https://openalex.org/W4313563112","doi":"https://doi.org/10.1109/humanoids53995.2022.10000199"},"language":"en","primary_location":{"id":"doi:10.1109/humanoids53995.2022.10000199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.10000199","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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/A5007221647","display_name":"Prashanth Ramadoss","orcid":"https://orcid.org/0000-0003-0234-3878"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Prashanth Ramadoss","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055359913","display_name":"Lorenzo Rapetti","orcid":"https://orcid.org/0000-0003-3071-9676"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Lorenzo Rapetti","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069223270","display_name":"Yeshasvi Tirupachuri","orcid":"https://orcid.org/0000-0002-0467-0074"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Yeshasvi Tirupachuri","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5077745075","display_name":"Riccardo Grieco","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Riccardo Grieco","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066835180","display_name":"Gianluca Milani","orcid":"https://orcid.org/0000-0002-4012-7415"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Gianluca Milani","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045959669","display_name":"Enrico Valli","orcid":"https://orcid.org/0000-0002-0126-453X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Enrico Valli","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071104229","display_name":"Stefano Dafarra","orcid":"https://orcid.org/0000-0002-1575-5188"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Stefano Dafarra","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5082517605","display_name":"Silvio Traversaro","orcid":"https://orcid.org/0000-0002-9283-6133"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Silvio Traversaro","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5081455901","display_name":"Daniele Pucci","orcid":"https://orcid.org/0000-0002-7600-3203"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Daniele Pucci","raw_affiliation_strings":["Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Italian Institute of Technology,Artificial and Mechanical Intelligence,Genoa,Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9926000237464905,"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"}},"topics":[{"id":"https://openalex.org/T10114","display_name":"Balance, Gait, and Falls Prevention","score":0.9926000237464905,"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"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9914000034332275,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9901000261306763,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.8334994912147522},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6830859184265137},{"id":"https://openalex.org/keywords/inverse-kinematics","display_name":"Inverse kinematics","score":0.5854513645172119},{"id":"https://openalex.org/keywords/base","display_name":"Base (topology)","score":0.5500593781471252},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5358712673187256},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.4496970772743225},{"id":"https://openalex.org/keywords/kinematics-equations","display_name":"Kinematics equations","score":0.447110652923584},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.43901583552360535},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4192807972431183},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.41666775941848755},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4051952064037323},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.39783722162246704},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20696836709976196},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.18255740404129028},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.13427424430847168},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.09346583485603333}],"concepts":[{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.8334994912147522},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6830859184265137},{"id":"https://openalex.org/C17816587","wikidata":"https://www.wikidata.org/wiki/Q1501872","display_name":"Inverse kinematics","level":3,"score":0.5854513645172119},{"id":"https://openalex.org/C42058472","wikidata":"https://www.wikidata.org/wiki/Q810214","display_name":"Base (topology)","level":2,"score":0.5500593781471252},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5358712673187256},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.4496970772743225},{"id":"https://openalex.org/C204172952","wikidata":"https://www.wikidata.org/wiki/Q6410697","display_name":"Kinematics equations","level":5,"score":0.447110652923584},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.43901583552360535},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4192807972431183},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.41666775941848755},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4051952064037323},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.39783722162246704},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20696836709976196},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.18255740404129028},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.13427424430847168},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.09346583485603333},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/humanoids53995.2022.10000199","is_oa":false,"landing_page_url":"https://doi.org/10.1109/humanoids53995.2022.10000199","pdf_url":null,"source":{"id":"https://openalex.org/S4363608580","display_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)","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":15,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W2500544719","https://openalex.org/W2605243700","https://openalex.org/W2736990953","https://openalex.org/W2771445804","https://openalex.org/W3000625188","https://openalex.org/W3094340094","https://openalex.org/W3094390157","https://openalex.org/W3207335050","https://openalex.org/W4281968512","https://openalex.org/W4287814328","https://openalex.org/W4388145345","https://openalex.org/W6632571126","https://openalex.org/W6776065706","https://openalex.org/W6838998439"],"related_works":["https://openalex.org/W2351331567","https://openalex.org/W2744818472","https://openalex.org/W2607470227","https://openalex.org/W2355512144","https://openalex.org/W2811382984","https://openalex.org/W1969999327","https://openalex.org/W2213440246","https://openalex.org/W3030642493","https://openalex.org/W1253671258","https://openalex.org/W4283266117"],"abstract_inverted_index":{"Full":[0],"body":[1],"motion":[2],"estimation":[3,39],"of":[4,16,33,71,121],"a":[5,34,69,77,99,103,118],"human":[6,100,124],"through":[7],"wearable":[8,42],"sensing":[9],"technologies":[10],"is":[11,22,49,92,114],"challenging":[12],"in":[13,65,94],"the":[14,31,53,122],"absence":[15],"position":[17],"sensors":[18],"since":[19],"base":[20,37,86],"kinematics":[21,38],"usually":[23],"not":[24],"directly":[25],"measurable.":[26],"This":[27,48],"paper":[28],"contributes":[29],"to":[30,67,116],"development":[32],"model-based":[35],"floating":[36,85],"algorithm":[40],"using":[41],"distributed":[43],"inertial":[44],"and":[45,76,106],"force-torque":[46],"sensing.":[47],"done":[50],"by":[51],"extending":[52],"existing":[54],"dynamical":[55],"optimization-based":[56],"Inverse":[57],"Kinematics":[58],"(IK)":[59],"approach":[60],"for":[61,84],"joint":[62],"state":[63],"estimation,":[64],"cascade,":[66],"include":[68],"center":[70],"pressure":[72],"based":[73],"contact":[74],"detector":[75],"contact-aided":[78],"Kalman":[79],"filter":[80],"on":[81],"Lie":[82],"groups":[83],"pose":[87],"estimation.":[88],"The":[89,111],"proposed":[90,112],"method":[91,113],"tested":[93],"an":[95],"experimental":[96],"scenario":[97],"where":[98],"equipped":[101],"with":[102],"sensorized":[104],"suit":[105],"shoes":[107],"performs":[108],"walking":[109],"motions.":[110],"demonstrated":[115],"obtain":[117],"reliable":[119],"reconstruction":[120],"whole-body":[123],"motion.":[125]},"counts_by_year":[{"year":2025,"cited_by_count":1},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
