{"id":"https://openalex.org/W3205151163","doi":"https://doi.org/10.1109/icra48506.2021.9560805","title":"An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors","display_name":"An Encoder-Free Joint Velocity Estimation Method for Serial Manipulators Using Inertial Sensors","publication_year":2021,"publication_date":"2021-05-30","ids":{"openalex":"https://openalex.org/W3205151163","doi":"https://doi.org/10.1109/icra48506.2021.9560805","mag":"3205151163"},"language":"en","primary_location":{"id":"doi:10.1109/icra48506.2021.9560805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560805","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","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/A5086026713","display_name":"Xiaolong Xu","orcid":"https://orcid.org/0000-0002-1953-2037"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Xiaolong Xu","raw_affiliation_strings":["Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5005972749","display_name":"Yujie Sun","orcid":"https://orcid.org/0000-0002-1397-8302"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yujie Sun","raw_affiliation_strings":["Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5073652025","display_name":"Xincheng Tian","orcid":"https://orcid.org/0000-0001-9814-9521"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Xincheng Tian","raw_affiliation_strings":["Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087340707","display_name":"Lelai Zhou","orcid":"https://orcid.org/0000-0003-3308-870X"},"institutions":[{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]},{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Lelai Zhou","raw_affiliation_strings":["Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100724411","display_name":"Yibin Li","orcid":"https://orcid.org/0000-0002-5906-5074"},"institutions":[{"id":"https://openalex.org/I1327237609","display_name":"Ministry of Education of the People's Republic of China","ror":"https://ror.org/01mv9t934","country_code":"CN","type":"funder","lineage":["https://openalex.org/I1327237609","https://openalex.org/I4210127390"]},{"id":"https://openalex.org/I154099455","display_name":"Shandong University","ror":"https://ror.org/0207yh398","country_code":"CN","type":"education","lineage":["https://openalex.org/I154099455"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Yibin Li","raw_affiliation_strings":["Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China"],"affiliations":[{"raw_affiliation_string":"Engineering Research Center of Intelligent Unmanned System, Ministry of Education, Jinan, China","institution_ids":["https://openalex.org/I1327237609"]},{"raw_affiliation_string":"School of Control Science and Engineering, Center for Robotics, Shandong University, Jinan, China","institution_ids":["https://openalex.org/I154099455"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5086026713"],"corresponding_institution_ids":["https://openalex.org/I1327237609","https://openalex.org/I154099455"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.14345925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":99,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"1566","last_page":"1571"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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"}},"topics":[{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9997000098228455,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9987999796867371,"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"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.9984999895095825,"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/revolute-joint","display_name":"Revolute joint","score":0.8504425287246704},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7569552659988403},{"id":"https://openalex.org/keywords/serial-manipulator","display_name":"Serial manipulator","score":0.7188733220100403},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6845851540565491},{"id":"https://openalex.org/keywords/flexibility","display_name":"Flexibility (engineering)","score":0.5935947895050049},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5674238204956055},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5558317303657532},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.5280174612998962},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5020310878753662},{"id":"https://openalex.org/keywords/degrees-of-freedom","display_name":"Degrees of freedom (physics and chemistry)","score":0.49518170952796936},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.4937840402126312},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.47615906596183777},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.4626167118549347},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.45269328355789185},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.4271073341369629},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.35701194405555725},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32132211327552795},{"id":"https://openalex.org/keywords/parallel-manipulator","display_name":"Parallel manipulator","score":0.2765268087387085},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2654864192008972},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.176354318857193}],"concepts":[{"id":"https://openalex.org/C5643039","wikidata":"https://www.wikidata.org/wiki/Q3819341","display_name":"Revolute joint","level":3,"score":0.8504425287246704},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7569552659988403},{"id":"https://openalex.org/C120910303","wikidata":"https://www.wikidata.org/wiki/Q7454692","display_name":"Serial manipulator","level":4,"score":0.7188733220100403},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6845851540565491},{"id":"https://openalex.org/C2780598303","wikidata":"https://www.wikidata.org/wiki/Q65921492","display_name":"Flexibility (engineering)","level":2,"score":0.5935947895050049},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5674238204956055},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5558317303657532},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.5280174612998962},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5020310878753662},{"id":"https://openalex.org/C208081375","wikidata":"https://www.wikidata.org/wiki/Q274502","display_name":"Degrees of freedom (physics and chemistry)","level":2,"score":0.49518170952796936},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.4937840402126312},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.47615906596183777},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.4626167118549347},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.45269328355789185},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.4271073341369629},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.35701194405555725},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32132211327552795},{"id":"https://openalex.org/C138094506","wikidata":"https://www.wikidata.org/wiki/Q12065277","display_name":"Parallel manipulator","level":3,"score":0.2765268087387085},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2654864192008972},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.176354318857193},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","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/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","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/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"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/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C170154142","wikidata":"https://www.wikidata.org/wiki/Q150737","display_name":"Architectural engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra48506.2021.9560805","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48506.2021.9560805","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/16","display_name":"Peace, Justice and strong institutions"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W139131351","https://openalex.org/W1580764685","https://openalex.org/W2016060363","https://openalex.org/W2016382724","https://openalex.org/W2022674880","https://openalex.org/W2027797330","https://openalex.org/W2062691475","https://openalex.org/W2097238897","https://openalex.org/W2128892021","https://openalex.org/W2131292439","https://openalex.org/W2132460356","https://openalex.org/W2139831829","https://openalex.org/W2170031322","https://openalex.org/W2762248135","https://openalex.org/W2900270586","https://openalex.org/W2908532261","https://openalex.org/W2997249751","https://openalex.org/W3003158571","https://openalex.org/W3048351835","https://openalex.org/W6756212095"],"related_works":["https://openalex.org/W2053241953","https://openalex.org/W947851733","https://openalex.org/W2159499127","https://openalex.org/W2326914789","https://openalex.org/W2247474161","https://openalex.org/W2382856674","https://openalex.org/W2893880535","https://openalex.org/W2411340114","https://openalex.org/W2053129118","https://openalex.org/W4301396968"],"abstract_inverted_index":{"This":[0],"paper":[1],"focuses":[2],"on":[3,24,62,121],"developing":[4],"a":[5,155],"real-time":[6],"and":[7,42,109,134,149],"flexible":[8],"velocity":[9,57,105,157,164],"estimation":[10],"approach":[11,34],"for":[12,38],"serial":[13],"revolute":[14],"manipulator":[15,129],"using":[16],"only":[17],"one":[18],"inertial":[19],"measurement":[20],"unit":[21],"(IMU)":[22],"mounted":[23],"each":[25],"link":[26],"side":[27],"of":[28,44,51,66,107,125,136,146],"the":[29,32,39,45,49,52,63,72,84,95,100,102,122,132,137,144],"manipulator.":[30],"Particularly,":[31],"proposed":[33,64,85,138,141],"has":[35,143],"no":[36],"requirement":[37],"installation":[40],"position":[41],"orientation":[43],"IMU,":[46],"which":[47,151],"improves":[48],"flexibility":[50],"implementation":[53],"procedure.":[54],"A":[55],"joint":[56,103,163],"model":[58],"is":[59],"established":[60],"based":[61,120],"principle":[65],"constructing":[67],"coordinate":[68],"system":[69],"according":[70],"to":[71,116,160],"robotic":[73,111],"geometric":[74,97],"information.":[75],"The":[76,140],"general":[77],"solutions":[78],"are":[79,113],"derived":[80],"in":[81],"detail,":[82],"thereby":[83],"algorithm":[86],"can":[87],"be":[88],"generalized":[89],"into":[90],"any":[91],"other":[92],"robots":[93],"with":[94],"same":[96],"configuration.":[98],"With":[99],"method,":[101],"rotational":[104],"measurements":[106],"static":[108],"dynamic":[110],"motion":[112],"provided":[114],"compared":[115],"encoders.":[117],"Experimental":[118],"results":[119],"six":[123],"degrees":[124],"freedom":[126],"(DOF)":[127],"collaborative":[128],"have":[130],"validated":[131],"feasibility":[133],"effectiveness":[135],"approach.":[139],"method":[142],"benefits":[145],"low":[147],"cost":[148],"flexibility,":[150],"could":[152],"work":[153],"as":[154],"redundant":[156],"monitor":[158],"criterion":[159],"provide":[161],"assistant":[162],"measurements.":[165]},"counts_by_year":[{"year":2026,"cited_by_count":2}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
