{"id":"https://openalex.org/W2787307710","doi":"https://doi.org/10.1109/icarm.2017.8273127","title":"State estimation for quadrupedal using linear inverted pendulum model","display_name":"State estimation for quadrupedal using linear inverted pendulum model","publication_year":2017,"publication_date":"2017-08-01","ids":{"openalex":"https://openalex.org/W2787307710","doi":"https://doi.org/10.1109/icarm.2017.8273127","mag":"2787307710"},"language":"en","primary_location":{"id":"doi:10.1109/icarm.2017.8273127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2017.8273127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM)","raw_type":"proceedings-article"},"type":"article","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/A5115595090","display_name":"Shuaishuai Wang","orcid":"https://orcid.org/0000-0002-2936-1972"},"institutions":[{"id":"https://openalex.org/I4210159500","display_name":"Shenzhen Academy of Aerospace Technology","ror":"https://ror.org/05etzsm06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159500"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"ShuaiShuai Wang","raw_affiliation_strings":["China Aerospace Science, Shenzhen Academy of Aerospace Technology, Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"China Aerospace Science, Shenzhen Academy of Aerospace Technology, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210159500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029553499","display_name":"Yapeng Shi","orcid":"https://orcid.org/0000-0003-4373-4349"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yapeng Shi","raw_affiliation_strings":["State Key laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, China"],"affiliations":[{"raw_affiliation_string":"State Key laboratory of Robotics and System, Harbin Institute of Technology, Harbin, Heilongjiang, China","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100327898","display_name":"Xin Wang","orcid":"https://orcid.org/0000-0002-1251-9040"},"institutions":[{"id":"https://openalex.org/I4210159500","display_name":"Shenzhen Academy of Aerospace Technology","ror":"https://ror.org/05etzsm06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159500"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xin Wang","raw_affiliation_strings":["China Aerospace Science, Shenzhen Academy of Aerospace Technology, Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"China Aerospace Science, Shenzhen Academy of Aerospace Technology, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210159500"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5107955958","display_name":"Zhenyu Jiang","orcid":"https://orcid.org/0000-0002-3312-9092"},"institutions":[{"id":"https://openalex.org/I4210159500","display_name":"Shenzhen Academy of Aerospace Technology","ror":"https://ror.org/05etzsm06","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210159500"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Zhenyu Jiang","raw_affiliation_strings":["China Aerospace Science, Shenzhen Academy of Aerospace Technology, Shenzhen, Guangdong, China"],"affiliations":[{"raw_affiliation_string":"China Aerospace Science, Shenzhen Academy of Aerospace Technology, Shenzhen, Guangdong, China","institution_ids":["https://openalex.org/I4210159500"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5101895050","display_name":"Bin Yu","orcid":"https://orcid.org/0000-0001-8267-8840"},"institutions":[{"id":"https://openalex.org/I39333907","display_name":"Yanshan University","ror":"https://ror.org/02txfnf15","country_code":"CN","type":"education","lineage":["https://openalex.org/I39333907"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Bin Yu","raw_affiliation_strings":["School of Mechanical Engineering, Yanshan University, Qinhuangdao, China"],"affiliations":[{"raw_affiliation_string":"School of Mechanical Engineering, Yanshan University, Qinhuangdao, China","institution_ids":["https://openalex.org/I39333907"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5115595090"],"corresponding_institution_ids":["https://openalex.org/I4210159500"],"apc_list":null,"apc_paid":null,"fwci":0.3924,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.62409665,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":99},"biblio":{"volume":"1","issue":null,"first_page":"13","last_page":"18"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9993000030517578,"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":0.9993000030517578,"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.9790999889373779,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9786999821662903,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/inverted-pendulum","display_name":"Inverted pendulum","score":0.8656750917434692},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.6873019337654114},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.6762003302574158},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.6578305959701538},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6490585207939148},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.6142215728759766},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5184559226036072},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.49916768074035645},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.4957979619503021},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.46981289982795715},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4400074779987335},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.28542467951774597},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24313893914222717},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.21555933356285095},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15834876894950867},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1426619589328766}],"concepts":[{"id":"https://openalex.org/C192921069","wikidata":"https://www.wikidata.org/wiki/Q550134","display_name":"Inverted pendulum","level":3,"score":0.8656750917434692},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.6873019337654114},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.6762003302574158},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.6578305959701538},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6490585207939148},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.6142215728759766},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5184559226036072},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.49916768074035645},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.4957979619503021},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.46981289982795715},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4400074779987335},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.28542467951774597},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24313893914222717},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.21555933356285095},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15834876894950867},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1426619589328766},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"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/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icarm.2017.8273127","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icarm.2017.8273127","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 2nd International Conference on Advanced Robotics and Mechatronics (ICARM)","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":20,"referenced_works":["https://openalex.org/W1945123189","https://openalex.org/W1982902701","https://openalex.org/W1999684857","https://openalex.org/W2005099894","https://openalex.org/W2009193957","https://openalex.org/W2015275088","https://openalex.org/W2026351781","https://openalex.org/W2043927371","https://openalex.org/W2073288601","https://openalex.org/W2076448662","https://openalex.org/W2105934661","https://openalex.org/W2123109979","https://openalex.org/W2131420149","https://openalex.org/W2149046449","https://openalex.org/W2153190828","https://openalex.org/W2231569363","https://openalex.org/W2288348950","https://openalex.org/W4237726214","https://openalex.org/W6646119766","https://openalex.org/W6689333170"],"related_works":["https://openalex.org/W962423920","https://openalex.org/W2387968248","https://openalex.org/W2120821724","https://openalex.org/W2350715914","https://openalex.org/W2089114113","https://openalex.org/W2101175215","https://openalex.org/W2379529020","https://openalex.org/W2893549521","https://openalex.org/W2103062922","https://openalex.org/W2162299404"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"an":[3],"estimator":[4,107],"for":[5],"quadruped":[6,86],"robot":[7],"to":[8,41,64],"obtain":[9],"state":[10,44],"parameters,":[11],"which":[12,142],"is":[13,62,82,128,138],"a":[14,20,35,85,92],"challenge":[15],"issue,":[16,32],"on":[17,30,84],"account":[18],"of":[19,22,45,48,77,94,98,104,125],"variety":[21],"intrinsic":[23],"sensor":[24],"noise":[25],"and":[26,88,119,132],"force":[27,55,120],"disturbances.":[28],"Based":[29],"this":[31],"we":[33,89],"exploit":[34],"Linear":[36],"Inverted":[37],"Pendulum":[38],"Model":[39],"(LIPM)":[40],"estimate":[42],"the":[43,46,53,68,75,78,102,105,111,115,133,145],"center":[47],"mass":[49],"(CoM),":[50],"simultaneously":[51],"considering":[52],"external":[54],"disturbance.":[56],"Meanwhile,":[57],"Extended":[58],"Kalman":[59],"Filter":[60],"(EKF)":[61],"put":[63],"use":[65],"through":[66],"fusing":[67],"information":[69],"from":[70,114],"forward":[71],"kinematics.":[72],"To":[73],"validate":[74],"feasibility":[76],"proposed":[79,106],"method,":[80],"it":[81],"implemented":[83],"platform":[87],"carry":[90],"out":[91],"series":[93],"experiments.":[95],"The":[96,122],"results":[97],"data":[99,113],"analysis":[100],"demonstrate":[101],"performance":[103],"via":[108],"comparing":[109],"with":[110],"actual":[112],"motion":[116],"capture":[117],"system":[118],"platform.":[121],"average":[123],"error":[124,137],"velocity":[126],"estimation":[127,136],"less":[129,139],"than":[130,140],"0.04m/s,":[131],"local":[134],"positon":[135],"6%,":[141],"are":[143],"within":[144],"control":[146],"tolerance.":[147]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2023,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":1}],"updated_date":"2026-03-29T08:15:47.926485","created_date":"2025-10-10T00:00:00"}
