{"id":"https://openalex.org/W2892147826","doi":"https://doi.org/10.1109/icra.2018.8461167","title":"Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares","display_name":"Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares","publication_year":2018,"publication_date":"2018-05-01","ids":{"openalex":"https://openalex.org/W2892147826","doi":"https://doi.org/10.1109/icra.2018.8461167","mag":"2892147826"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2018.8461167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461167","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://hdl.handle.net/11380/1174438","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5090081010","display_name":"Saverio Farsoni","orcid":"https://orcid.org/0000-0003-3480-1351"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Saverio Farsoni","raw_affiliation_strings":["Engineering Department, University of Ferrara, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Department, University of Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075646521","display_name":"Chiara Talignani Landi","orcid":"https://orcid.org/0000-0002-4740-0103"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Chiara Talignani Landi","raw_affiliation_strings":["Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023679578","display_name":"Federica Ferraguti","orcid":"https://orcid.org/0000-0002-4989-1567"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Federica Ferraguti","raw_affiliation_strings":["Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5032100434","display_name":"Cristian Secchi","orcid":"https://orcid.org/0000-0002-2098-0099"},"institutions":[{"id":"https://openalex.org/I122346577","display_name":"University of Modena and Reggio Emilia","ror":"https://ror.org/02d4c4y02","country_code":"IT","type":"education","lineage":["https://openalex.org/I122346577"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Cristian Secchi","raw_affiliation_strings":["Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Science and Methods for Engineering, University of Modena and Reggio Emilia, Italy","institution_ids":["https://openalex.org/I122346577"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5049538665","display_name":"Marcello Bonf\u00e8","orcid":"https://orcid.org/0000-0002-6065-9769"},"institutions":[{"id":"https://openalex.org/I201324441","display_name":"University of Ferrara","ror":"https://ror.org/041zkgm14","country_code":"IT","type":"education","lineage":["https://openalex.org/I201324441"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Marcello Bonfe","raw_affiliation_strings":["Engineering Department, University of Ferrara, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Department, University of Ferrara, Italy","institution_ids":["https://openalex.org/I201324441"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":10.2994,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.97680317,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"2103","last_page":"2109"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.995199978351593,"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"}},"topics":[{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.995199978351593,"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/T10534","display_name":"Structural Health Monitoring Techniques","score":0.989799976348877,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural 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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.984000027179718,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.757867157459259},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7412326335906982},{"id":"https://openalex.org/keywords/payload","display_name":"Payload (computing)","score":0.6602857708930969},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.5783746838569641},{"id":"https://openalex.org/keywords/quaternion","display_name":"Quaternion","score":0.5723925232887268},{"id":"https://openalex.org/keywords/recursive-least-squares-filter","display_name":"Recursive least squares filter","score":0.5703030228614807},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.5290944576263428},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5180333256721497},{"id":"https://openalex.org/keywords/total-least-squares","display_name":"Total least squares","score":0.4570896327495575},{"id":"https://openalex.org/keywords/inertial-navigation-system","display_name":"Inertial navigation system","score":0.45235520601272583},{"id":"https://openalex.org/keywords/estimation-theory","display_name":"Estimation theory","score":0.43722644448280334},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.40900203585624695},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.33031296730041504},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3075529932975769},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.24785509705543518},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22302338480949402}],"concepts":[{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.757867157459259},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7412326335906982},{"id":"https://openalex.org/C134066672","wikidata":"https://www.wikidata.org/wiki/Q1424639","display_name":"Payload (computing)","level":3,"score":0.6602857708930969},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.5783746838569641},{"id":"https://openalex.org/C200127275","wikidata":"https://www.wikidata.org/wiki/Q173853","display_name":"Quaternion","level":2,"score":0.5723925232887268},{"id":"https://openalex.org/C145249878","wikidata":"https://www.wikidata.org/wiki/Q2835868","display_name":"Recursive least squares filter","level":3,"score":0.5703030228614807},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.5290944576263428},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5180333256721497},{"id":"https://openalex.org/C169241690","wikidata":"https://www.wikidata.org/wiki/Q7828122","display_name":"Total least squares","level":3,"score":0.4570896327495575},{"id":"https://openalex.org/C128651787","wikidata":"https://www.wikidata.org/wiki/Q570607","display_name":"Inertial navigation system","level":3,"score":0.45235520601272583},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.43722644448280334},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.40900203585624695},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.33031296730041504},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3075529932975769},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.24785509705543518},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22302338480949402},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.0},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.0},{"id":"https://openalex.org/C158379750","wikidata":"https://www.wikidata.org/wiki/Q214111","display_name":"Network packet","level":2,"score":0.0},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C22789450","wikidata":"https://www.wikidata.org/wiki/Q420904","display_name":"Singular value decomposition","level":2,"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},{"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/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"doi:10.1109/icra.2018.8461167","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2018.8461167","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2018 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:iris.unife.it:11392/2395584","is_oa":false,"landing_page_url":"http://hdl.handle.net/11392/2395584","pdf_url":null,"source":{"id":"https://openalex.org/S4306400369","display_name":"Institutional Research Information System University of Ferrara (University of Ferrara)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I201324441","host_organization_name":"University of Ferrara","host_organization_lineage":["https://openalex.org/I201324441"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:iris.unimore.it:11380/1174438","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1174438","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":{"id":"pmh:oai:iris.unimore.it:11380/1174438","is_oa":true,"landing_page_url":"http://hdl.handle.net/11380/1174438","pdf_url":null,"source":{"id":"https://openalex.org/S4306400718","display_name":"IRIS UNIMORE (University of Modena and Reggio Emilia)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I122346577","host_organization_name":"University of Modena and Reggio Emilia","host_organization_lineage":["https://openalex.org/I122346577"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"info:eu-repo/semantics/conferenceObject"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":17,"referenced_works":["https://openalex.org/W1596805757","https://openalex.org/W1969805947","https://openalex.org/W1972717105","https://openalex.org/W1974309896","https://openalex.org/W2044127092","https://openalex.org/W2078856056","https://openalex.org/W2110121428","https://openalex.org/W2112844012","https://openalex.org/W2115696368","https://openalex.org/W2139761653","https://openalex.org/W2157702526","https://openalex.org/W2169008269","https://openalex.org/W2575876265","https://openalex.org/W2956892431","https://openalex.org/W4254005064","https://openalex.org/W6644146880","https://openalex.org/W6683672568"],"related_works":["https://openalex.org/W2128405419","https://openalex.org/W2156842304","https://openalex.org/W2385234200","https://openalex.org/W2394248547","https://openalex.org/W1986698577","https://openalex.org/W3003407024","https://openalex.org/W1602531054","https://openalex.org/W2038428770","https://openalex.org/W2382613119","https://openalex.org/W2132030004"],"abstract_inverted_index":{"The":[0],"paper":[1],"describes":[2],"an":[3,24],"estimation":[4,80],"and":[5,44,56,81],"identification":[6,82],"procedure":[7,83],"that":[8],"allows":[9],"to":[10,20,52,71],"reconstruct":[11],"the":[12,21,29,60,73,79,89],"inertial":[13,45],"parameters":[14],"of":[15,23,59,78,94],"a":[16,33,63],"rigid":[17],"load":[18,74],"attached":[19],"end-effector":[22],"industrial":[25],"manipulator.":[26],"In":[27],"particular,":[28],"proposed":[30],"method":[31],"adopts":[32],"multirate":[34],"quaternion-based":[35],"Kalman":[36],"filter,":[37],"fusing":[38],"measurements":[39],"obtained":[40],"from":[41],"robot":[42],"kinematics":[43],"sensors":[46],"at":[47],"possibly":[48],"different":[49],"sampling":[50],"frequencies,":[51],"estimate":[53],"linear":[54],"accelerations":[55],"angular":[57],"velocities/accelerations":[58],"load.":[61],"Then,":[62],"recursive":[64],"total":[65],"least-squares":[66],"(RTLS)":[67],"process":[68],"is":[69],"executed":[70],"identify":[72],"parameters.":[75],"Both":[76],"steps":[77],"are":[84],"performed":[85],"in":[86],"real-time,":[87],"without":[88],"need":[90],"for":[91],"offline":[92],"post-processing":[93],"measured":[95],"data.":[96]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2023,"cited_by_count":3},{"year":2022,"cited_by_count":5},{"year":2019,"cited_by_count":5}],"updated_date":"2026-07-02T09:51:11.867554","created_date":"2025-10-10T00:00:00"}