{"id":"https://openalex.org/W4383097404","doi":"https://doi.org/10.1109/icra48891.2023.10160898","title":"Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion","display_name":"Visual-Inertial and Leg Odometry Fusion for Dynamic Locomotion","publication_year":2023,"publication_date":"2023-05-29","ids":{"openalex":"https://openalex.org/W4383097404","doi":"https://doi.org/10.1109/icra48891.2023.10160898"},"language":"en","primary_location":{"id":"doi:10.1109/icra48891.2023.10160898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5088700428","display_name":"Victor Dh\u00e9din","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Victor Dh\u00e9din","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102005108","display_name":"Haolong Li","orcid":"https://orcid.org/0000-0002-9880-9136"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Haolong Li","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5046601607","display_name":"Shahram Khorshidi","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shahram Khorshidi","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Movement Generation and Control Group,Tuebingen,Germany","Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Movement Generation and Control Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031308287","display_name":"Lukas Mack","orcid":null},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Lukas Mack","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056762483","display_name":"Adithya Kumar Chinnakkonda Ravi","orcid":"https://orcid.org/0000-0002-9308-5052"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Adithya Kumar Chinnakkonda Ravi","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035427970","display_name":"Avadesh Meduri","orcid":"https://orcid.org/0000-0001-7742-3130"},"institutions":[{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Avadesh Meduri","raw_affiliation_strings":["Tandon School of Engineering, New York University,New York,USA","Tandon School of Engineering, New York University, New York, USA"],"affiliations":[{"raw_affiliation_string":"Tandon School of Engineering, New York University,New York,USA","institution_ids":["https://openalex.org/I57206974"]},{"raw_affiliation_string":"Tandon School of Engineering, New York University, New York, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5110849477","display_name":"Paarth Shah","orcid":null},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]},{"id":"https://openalex.org/I4210146410","display_name":"Science Oxford","ror":"https://ror.org/04j8yhy50","country_code":"GB","type":"nonprofit","lineage":["https://openalex.org/I4210146410"]},{"id":"https://openalex.org/I4210116723","display_name":"Robotics Research (United States)","ror":"https://ror.org/020w2fr77","country_code":"US","type":"company","lineage":["https://openalex.org/I4210116723"]}],"countries":["GB","US"],"is_corresponding":false,"raw_author_name":"Paarth Shah","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford,England","Oxford Robotics Institute, University of Oxford, England"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford,England","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I4210146410"]},{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, England","institution_ids":["https://openalex.org/I4210116723","https://openalex.org/I40120149"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081687578","display_name":"Felix Grimminger","orcid":"https://orcid.org/0000-0003-1744-0435"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Felix Grimminger","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Autonomous Motion Department,Tuebingen,Germany","Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Autonomous Motion Department,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Autonomous Motion Department, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026007843","display_name":"Ludovic Righetti","orcid":"https://orcid.org/0000-0002-6458-9112"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]},{"id":"https://openalex.org/I57206974","display_name":"New York University","ror":"https://ror.org/0190ak572","country_code":"US","type":"education","lineage":["https://openalex.org/I57206974"]}],"countries":["DE","US"],"is_corresponding":false,"raw_author_name":"Ludovic Righetti","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Movement Generation and Control Group,Tuebingen,Germany","Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","Tandon School of Engineering, New York University, New York, USA"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Movement Generation and Control Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Tandon School of Engineering, New York University, New York, USA","institution_ids":["https://openalex.org/I57206974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Movement Generation and Control Group,Tuebingen,Germany","Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Movement Generation and Control Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Movement Generation and Control Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5085424314","display_name":"Joerg Stueckler","orcid":"https://orcid.org/0000-0002-2328-4363"},"institutions":[{"id":"https://openalex.org/I4210135521","display_name":"Max Planck Institute for Intelligent Systems","ror":"https://ror.org/04fq9j139","country_code":"DE","type":"facility","lineage":["https://openalex.org/I149899117","https://openalex.org/I4210135521"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Joerg Stueckler","raw_affiliation_strings":["Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany"],"affiliations":[{"raw_affiliation_string":"Max Planck Institute for Intelligent Systems,Embodied Vision Group,Tuebingen,Germany","institution_ids":["https://openalex.org/I4210135521"]},{"raw_affiliation_string":"Embodied Vision Group, Max Planck Institute for Intelligent Systems, Tuebingen, Germany","institution_ids":["https://openalex.org/I4210135521"]}]}],"institutions":[],"countries_distinct_count":3,"institutions_distinct_count":11,"corresponding_author_ids":["https://openalex.org/A5088700428"],"corresponding_institution_ids":["https://openalex.org/I4210135521"],"apc_list":null,"apc_paid":null,"fwci":0.9967,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":{"value":0.72515585,"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":"9966","last_page":"9972"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9940999746322632,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9837999939918518,"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/odometry","display_name":"Odometry","score":0.9058312177658081},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.7405149936676025},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.697153627872467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6247698664665222},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.6040709614753723},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5775212049484253},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5649992227554321},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.47438696026802063},{"id":"https://openalex.org/keywords/orientation","display_name":"Orientation (vector space)","score":0.41617506742477417},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3751720190048218},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.3072173595428467},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.14037811756134033}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.9058312177658081},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.7405149936676025},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.697153627872467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6247698664665222},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6040709614753723},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5775212049484253},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5649992227554321},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.47438696026802063},{"id":"https://openalex.org/C16345878","wikidata":"https://www.wikidata.org/wiki/Q107472979","display_name":"Orientation (vector space)","level":2,"score":0.41617506742477417},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3751720190048218},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.3072173595428467},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.14037811756134033},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","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}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra48891.2023.10160898","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra48891.2023.10160898","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:uni-augsburg.opus-bayern.de:107562","is_oa":false,"landing_page_url":"https://opus.bibliothek.uni-augsburg.de/opus4/frontdoor/index/index/docId/107562","pdf_url":null,"source":{"id":"https://openalex.org/S4306400930","display_name":"OPUS (Augsburg University)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I119916105","host_organization_name":"Augsburg University","host_organization_lineage":["https://openalex.org/I119916105"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"doc-type:conferenceobject"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320322434","display_name":"Max-Planck-Gesellschaft","ror":"https://ror.org/01hhn8329"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W262544154","https://openalex.org/W2005099894","https://openalex.org/W2073288601","https://openalex.org/W2169568794","https://openalex.org/W2736960679","https://openalex.org/W2750656378","https://openalex.org/W2794127568","https://openalex.org/W2909157769","https://openalex.org/W2940914777","https://openalex.org/W2964168254","https://openalex.org/W2977389550","https://openalex.org/W2997495511","https://openalex.org/W3000625188","https://openalex.org/W3007035358","https://openalex.org/W3033353027","https://openalex.org/W3098250009","https://openalex.org/W3105048402","https://openalex.org/W3105214950","https://openalex.org/W3130764402","https://openalex.org/W3185776277","https://openalex.org/W3205724045","https://openalex.org/W4225244428","https://openalex.org/W4241459016","https://openalex.org/W4287076986","https://openalex.org/W4313639240","https://openalex.org/W6679388247","https://openalex.org/W6798301574","https://openalex.org/W6809758186"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W2951795132","https://openalex.org/W4312092966","https://openalex.org/W2724195622","https://openalex.org/W2755286209","https://openalex.org/W4367281123","https://openalex.org/W4205669743","https://openalex.org/W3153542184"],"abstract_inverted_index":{"Implementing":[0],"dynamic":[1],"locomotion":[2,204],"behaviors":[3],"on":[4,214],"legged":[5],"robots":[6],"requires":[7],"a":[8,40,64,96,160,174,190,200,215],"high-quality":[9],"state":[10,58,130,171],"estimation":[11,26,187],"module.":[12],"Especially":[13],"when":[14],"the":[15,28,84,89,108,124,128,133,136,140,147],"motion":[16],"includes":[17],"flight":[18],"phases,":[19],"state-of-the-art":[20],"approaches":[21],"fail":[22],"to":[23,69,102],"produce":[24],"reliable":[25],"of":[27,83,99,110,135,139,199,202],"robot":[29,85,170],"posture,":[30],"in":[31,51,88],"particular":[32],"base":[33,86,148],"height.":[34],"In":[35],"this":[36,185],"paper,":[37],"we":[38,126],"propose":[39],"novel":[41],"approach":[42],"for":[43,119,181],"combining":[44],"visual-inertial":[45],"odometry":[46,50,166],"(VIO)":[47],"with":[48,159,173,189],"leg":[49,165],"an":[52],"extended":[53],"Kalman":[54],"filter":[55],"(EKF)":[56],"based":[57],"estimator.":[59],"The":[60,143],"VIO":[61,129,141],"module":[62,145],"uses":[63,146],"stereo":[65],"camera":[66],"and":[67,74,77,80,105,150,164,168,177,195,208],"IMU":[68,137,163],"yield":[70],"low-drift":[71],"3D":[72],"position":[73],"yaw":[75],"orientation":[76,82],"drift-free":[78],"pitch":[79],"roll":[81],"link":[87],"inertial":[90],"frame.":[91],"However,":[92],"these":[93],"values":[94],"have":[95],"considerable":[97],"amount":[98],"latency":[100,179],"due":[101],"image":[103],"processing":[104],"optimization,":[106],"while":[107],"rate":[109,134],"update":[111],"is":[112,116],"quite":[113],"low":[114],"which":[115],"not":[117],"suitable":[118,180],"low-level":[120],"control.":[121,182],"To":[122],"reduce":[123],"latency,":[125],"predict":[127],"estimate":[131],"at":[132,210],"measurements":[138],"sensor.":[142],"EKF":[144],"pose":[149],"linear":[151],"velocity":[152],"predicted":[153],"by":[154],"VIO,":[155],"fuses":[156],"them":[157],"further":[158],"second":[161],"high-rate":[162],"measurements,":[167],"produces":[169],"estimates":[172],"high":[175],"frequency":[176],"small":[178],"We":[183],"integrate":[184],"lightweight":[186],"framework":[188],"nonlinear":[191],"model":[192],"predictive":[193],"controller":[194],"show":[196],"successful":[197],"implementation":[198],"set":[201],"agile":[203],"behaviors,":[205],"including":[206],"trotting":[207],"jumping":[209],"varying":[211],"horizontal":[212],"speeds,":[213],"torque-controlled":[216],"quadruped":[217],"robot.":[218]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":6},{"year":2023,"cited_by_count":1}],"updated_date":"2026-03-20T23:20:44.827607","created_date":"2025-10-10T00:00:00"}
