{"id":"https://openalex.org/W2934335905","doi":"https://doi.org/10.1109/icra.2019.8793646","title":"Support Surface Estimation for Legged Robots","display_name":"Support Surface Estimation for Legged Robots","publication_year":2019,"publication_date":"2019-05-01","ids":{"openalex":"https://openalex.org/W2934335905","doi":"https://doi.org/10.1109/icra.2019.8793646","mag":"2934335905"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2019.8793646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/271883","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5048949232","display_name":"Timon Homberger","orcid":"https://orcid.org/0009-0000-4369-1110"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Timon Homberger","raw_affiliation_strings":["Robotics Systems Lab (RSL), ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics Systems Lab (RSL), ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5015540714","display_name":"Lorenz Wellhausen","orcid":"https://orcid.org/0000-0001-5148-754X"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Lorenz Wellhausen","raw_affiliation_strings":["Robotics Systems Lab (RSL), ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics Systems Lab (RSL), ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061972919","display_name":"P\u00e9ter Fankhauser","orcid":"https://orcid.org/0000-0002-1311-4010"},"institutions":[{"id":"https://openalex.org/I131328143","display_name":"Union Bank of Switzerland","ror":"https://ror.org/01ekk8h85","country_code":"CH","type":"funder","lineage":["https://openalex.org/I131328143"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Peter Fankhauser","raw_affiliation_strings":["ANYbotics AG, Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"ANYbotics AG, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I131328143"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotics Systems Lab (RSL), ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Robotics Systems Lab (RSL), ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5048949232"],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":0.5869,"has_fulltext":false,"cited_by_count":20,"citation_normalized_percentile":{"value":0.64082861,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8470","last_page":"8476"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9991000294685364,"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":0.9991000294685364,"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/T13176","display_name":"Winter Sports Injuries and Performance","score":0.9801999926567078,"subfield":{"id":"https://openalex.org/subfields/2740","display_name":"Pulmonary and Respiratory Medicine"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.9781000018119812,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8322702050209045},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6622772216796875},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6312638521194458},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5647249817848206},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5296428203582764},{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.5003554821014404},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.45037782192230225},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.12285327911376953}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8322702050209045},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6622772216796875},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6312638521194458},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5647249817848206},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5296428203582764},{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.5003554821014404},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.45037782192230225},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.12285327911376953},{"id":"https://openalex.org/C153294291","wikidata":"https://www.wikidata.org/wiki/Q25261","display_name":"Meteorology","level":1,"score":0.0},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":5,"locations":[{"id":"doi:10.1109/icra.2019.8793646","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2019.8793646","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:271883","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271883","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/328256","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/328256","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/384181","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/384181","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"2019 International Conference on Robotics and Automation (ICRA)","raw_type":"info:eu-repo/semantics/conferenceObject"},{"id":"doi:10.3929/ethz-b-000328256","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000328256","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"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":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:271883","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271883","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[{"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11","score":0.5}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W164706946","https://openalex.org/W1586173270","https://openalex.org/W2006983504","https://openalex.org/W2089807701","https://openalex.org/W2093252254","https://openalex.org/W2105835272","https://openalex.org/W2118146148","https://openalex.org/W2129298951","https://openalex.org/W2148710655","https://openalex.org/W2154871086","https://openalex.org/W2158483689","https://openalex.org/W2471969791","https://openalex.org/W2549216668","https://openalex.org/W2772638427","https://openalex.org/W2809054577","https://openalex.org/W2855708221","https://openalex.org/W2888398732","https://openalex.org/W3005428932","https://openalex.org/W3083605786","https://openalex.org/W4211049957","https://openalex.org/W4250058668","https://openalex.org/W6634982934","https://openalex.org/W6774263933"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2392812199","https://openalex.org/W4200176076","https://openalex.org/W598185802","https://openalex.org/W2355516524","https://openalex.org/W2361471170","https://openalex.org/W2025616642","https://openalex.org/W4226458444","https://openalex.org/W3213331859","https://openalex.org/W4226082913"],"abstract_inverted_index":{"The":[0,123],"high":[1],"agility":[2],"of":[3,42,110],"legged":[4],"systems":[5],"allows":[6],"them":[7],"to":[8,27,62,146],"operate":[9],"in":[10,165],"rugged":[11],"outdoor":[12],"environments.":[13],"In":[14],"these":[15],"situations,":[16],"knowledge":[17],"about":[18,72],"the":[19,40,43,64,101,108,111,121,152,158],"terrain":[20,37,66],"geometry":[21],"is":[22,47,98,125,139],"key":[23],"for":[24],"foothold":[25],"planning":[26],"enable":[28],"safe":[29],"locomotion.":[30],"However,":[31],"on":[32],"penetrable":[33,112],"or":[34],"highly":[35],"compliant":[36],"(e.g.":[38],"grass)":[39],"visibility":[41],"supporting":[44],"ground":[45],"surface":[46,85,103,113,134],"obstructed,":[48],"i.e.":[49],"it":[50,129],"cannot":[51],"directly":[52],"be":[53],"perceived":[54],"by":[55,68,106],"depth":[56,118],"sensors.":[57],"We":[58],"present":[59],"a":[60,82,131],"method":[61,124],"estimate":[63,86,135],"underlying":[65],"topography":[67],"fusing":[69],"haptic":[70],"information":[71,97,143],"foot":[73],"contact":[74],"closure":[75],"locations":[76],"with":[77,151],"exteroceptive":[78,142],"sensing.":[79],"To":[80],"obtain":[81],"dense":[83,166],"support":[84,102,133],"from":[87,115],"sparsely":[88],"sampled":[89],"footholds":[90],"we":[91],"apply":[92],"Gaussian":[93],"process":[94],"regression.":[95],"Exteroceptive":[96],"integrated":[99],"into":[100],"estimation":[104],"procedure":[105],"estimating":[107],"height":[109],"layer":[114],"discrete":[116],"penetration":[117],"measurements":[119],"at":[120],"footholds.":[122],"designed":[126],"such":[127],"that":[128],"provides":[130],"continuous":[132],"even":[136],"if":[137],"there":[138],"only":[140],"partial":[141],"available":[144],"due":[145],"shadowing":[147],"effects.":[148],"Field":[149],"experiments":[150],"quadrupedal":[153],"robot":[154,159],"ANYmal":[155],"show":[156],"how":[157],"can":[160],"smoothly":[161],"and":[162],"safely":[163],"navigate":[164],"vegetation.":[167]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":6},{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":3},{"year":2019,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
