{"id":"https://openalex.org/W2132909521","doi":"https://doi.org/10.1109/icra.2011.5979784","title":"JAIST Robotic Walker control based on a two-layered Kalman filter","display_name":"JAIST Robotic Walker control based on a two-layered Kalman filter","publication_year":2011,"publication_date":"2011-05-01","ids":{"openalex":"https://openalex.org/W2132909521","doi":"https://doi.org/10.1109/icra.2011.5979784","mag":"2132909521"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2011.5979784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","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/A5052831617","display_name":"Geun-Ho Lee","orcid":"https://orcid.org/0000-0002-0333-2778"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Geunho Lee","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology,#R##N#Ishikawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology,#R##N#Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004986274","display_name":"Eui-Jung Jung","orcid":"https://orcid.org/0000-0002-5305-0779"},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eui-Jung Jung","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Hanyang University, Ansan, South Korea","School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Korea","institution_ids":["https://openalex.org/I4575257"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5066472597","display_name":"Takanori Ohnuma","orcid":null},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Takanori Ohnuma","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology,#R##N#Ishikawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology,#R##N#Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000452220","display_name":"Nak Young Chong","orcid":"https://orcid.org/0000-0001-5736-0769"},"institutions":[{"id":"https://openalex.org/I177738480","display_name":"Japan Advanced Institute of Science and Technology","ror":"https://ror.org/03frj4r98","country_code":"JP","type":"education","lineage":["https://openalex.org/I177738480"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Nak Young Chong","raw_affiliation_strings":["School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","School of Information Science, Japan Advanced Institute of Science and Technology,#R##N#Ishikawa, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology, Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]},{"raw_affiliation_string":"School of Information Science, Japan Advanced Institute of Science and Technology,#R##N#Ishikawa, Japan","institution_ids":["https://openalex.org/I177738480"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5112558760","display_name":"Byung-Ju Yi","orcid":null},"institutions":[{"id":"https://openalex.org/I4575257","display_name":"Hanyang University","ror":"https://ror.org/046865y68","country_code":"KR","type":"education","lineage":["https://openalex.org/I4575257"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byung-Ju Yi","raw_affiliation_strings":["School of Electrical Engineering and Computer Science, Hanyang University, Ansan, South Korea","School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, South Korea","institution_ids":["https://openalex.org/I4575257"]},{"raw_affiliation_string":"School of Electrical Engineering and Computer Science, Hanyang University, Ansan, Korea","institution_ids":["https://openalex.org/I4575257"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":2.1571,"has_fulltext":false,"cited_by_count":36,"citation_normalized_percentile":{"value":0.87010339,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"3682","last_page":"3687"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9990000128746033,"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/T11707","display_name":"Gaze Tracking and Assistive Technology","score":0.9983999729156494,"subfield":{"id":"https://openalex.org/subfields/1709","display_name":"Human-Computer Interaction"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.9975000023841858,"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/kalman-filter","display_name":"Kalman filter","score":0.7401207685470581},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.7059653997421265},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.666557788848877},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5800639986991882},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.5698306560516357},{"id":"https://openalex.org/keywords/scheme","display_name":"Scheme (mathematics)","score":0.5644391775131226},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5491131544113159},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.5370810031890869},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4684595763683319},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.43070706725120544},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4241953492164612},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.3997423052787781},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3924616575241089},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3215174376964569},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.270449161529541},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.26954036951065063},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.23764729499816895},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.07726621627807617}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.7401207685470581},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.7059653997421265},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.666557788848877},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5800639986991882},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.5698306560516357},{"id":"https://openalex.org/C77618280","wikidata":"https://www.wikidata.org/wiki/Q1155772","display_name":"Scheme (mathematics)","level":2,"score":0.5644391775131226},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5491131544113159},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.5370810031890869},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4684595763683319},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.43070706725120544},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4241953492164612},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.3997423052787781},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3924616575241089},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3215174376964569},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.270449161529541},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.26954036951065063},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.23764729499816895},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.07726621627807617},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","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/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"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/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2011.5979784","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2011.5979784","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},{"id":"pmh:oai:repository.hanyang.ac.kr:20.500.11754/94289","is_oa":false,"landing_page_url":"http://repository.hanyang.ac.kr/handle/20.500.11754/94289","pdf_url":null,"source":{"id":"https://openalex.org/S4306401328","display_name":"The Royal Society of Chemistry\u2019s Journals, Books and Databases (The Royal Society of Chemistry)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I2751430930","host_organization_name":"Royal Society of Chemistry","host_organization_lineage":["https://openalex.org/I2751430930"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"Article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":19,"referenced_works":["https://openalex.org/W1559536185","https://openalex.org/W1763775273","https://openalex.org/W1981277868","https://openalex.org/W1987618324","https://openalex.org/W2047851005","https://openalex.org/W2056947012","https://openalex.org/W2063074836","https://openalex.org/W2069830673","https://openalex.org/W2108965296","https://openalex.org/W2118603200","https://openalex.org/W2124512572","https://openalex.org/W2136173720","https://openalex.org/W2165752754","https://openalex.org/W2572275964","https://openalex.org/W2596284720","https://openalex.org/W2625279438","https://openalex.org/W3023422231","https://openalex.org/W6680204825","https://openalex.org/W6732073179"],"related_works":["https://openalex.org/W2084086966","https://openalex.org/W1975289146","https://openalex.org/W1580685205","https://openalex.org/W2760382975","https://openalex.org/W2349716249","https://openalex.org/W2105887828","https://openalex.org/W2023861399","https://openalex.org/W2087240539","https://openalex.org/W2120941928","https://openalex.org/W1463864201"],"abstract_inverted_index":{"This":[0],"paper":[1],"presents":[2],"a":[3,40,50],"new":[4],"control":[5,89,121],"scheme":[6,69],"of":[7,78,95],"JAIST":[8],"Active":[9],"Robotic":[10],"Walker":[11],"(JARoW)":[12],"developed":[13],"to":[14,32,59,72,98],"provide":[15],"elderly":[16],"people":[17],"with":[18],"sufficient":[19],"ambulatory":[20],"capability.":[21],"Toward":[22],"its":[23,112],"practical":[24],"use,":[25],"our":[26,45],"focus":[27],"is":[28,70],"placed":[29],"on":[30],"how":[31],"allow":[33],"easier":[34],"and":[35,74,82,115],"reliable":[36],"maneuverability":[37],"by":[38,53],"creating":[39],"natural":[41],"user":[42,57],"interface.":[43],"Specifically,":[44],"challenge":[46],"lies":[47],"in":[48,84],"providing":[49],"well-functioning":[51],"controller":[52],"detecting":[54],"what":[55],"the":[56,76,79,93,99],"wants":[58],"do":[60],"or":[61],"their":[62],"intentions.":[63],"A":[64],"Kalman":[65],"filter":[66],"based":[67],"tracking":[68],"realized":[71],"estimate":[73],"predict":[75],"locations":[77],"user's":[80,101],"legs":[81],"body":[83],"real":[85],"time.":[86],"The":[87],"feedback":[88],"can":[90,109],"then":[91],"adjust":[92,111],"motions":[94],"JARoW":[96,108],"corresponding":[97],"actual":[100],"walking":[102],"behaviors.":[103],"Our":[104],"experiments":[105],"confirm":[106],"that":[107],"autonomously":[110],"motion":[113],"direction":[114],"velocity":[116],"without":[117],"requiring":[118],"any":[119],"additional":[120],"inputs.":[122]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2},{"year":2022,"cited_by_count":2},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":4},{"year":2018,"cited_by_count":2},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":2},{"year":2014,"cited_by_count":5},{"year":2013,"cited_by_count":2},{"year":2012,"cited_by_count":2}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}