{"id":"https://openalex.org/W2118192364","doi":"https://doi.org/10.1109/iros.2011.6095052","title":"State estimation for snake robots","display_name":"State estimation for snake robots","publication_year":2011,"publication_date":"2011-09-01","ids":{"openalex":"https://openalex.org/W2118192364","doi":"https://doi.org/10.1109/iros.2011.6095052","mag":"2118192364"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2011.6095052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095052","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","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/A5011815141","display_name":"David Rollinson","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"David Rollinson","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5009846752","display_name":"Austin Buchan","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Austin Buchan","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5048906141","display_name":"Howie Choset","orcid":null},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Howie Choset","raw_affiliation_strings":["Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA","Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA","institution_ids":["https://openalex.org/I74973139"]},{"raw_affiliation_string":"Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213, USA,","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":3.4788,"has_fulltext":false,"cited_by_count":13,"citation_normalized_percentile":{"value":0.91738149,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"1075","last_page":"1080"},"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/T10868","display_name":"Soft Robotics and Applications","score":0.9986000061035156,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9950000047683716,"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/robot","display_name":"Robot","score":0.7177514433860779},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6204408407211304},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5404772162437439},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.4551011621952057},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.44013530015945435},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36762917041778564},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.14527738094329834},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.06749492883682251}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7177514433860779},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6204408407211304},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5404772162437439},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.4551011621952057},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.44013530015945435},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36762917041778564},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.14527738094329834},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.06749492883682251},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2011.6095052","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2011.6095052","pdf_url":null,"source":{"id":"https://openalex.org/S4363608614","display_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","issn_l":null,"issn":null,"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":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2011 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":15,"referenced_works":["https://openalex.org/W1539436111","https://openalex.org/W1939016165","https://openalex.org/W2043758749","https://openalex.org/W2067477688","https://openalex.org/W2099428832","https://openalex.org/W2102252220","https://openalex.org/W2105289524","https://openalex.org/W2116625481","https://openalex.org/W2146262966","https://openalex.org/W2152699771","https://openalex.org/W2162325662","https://openalex.org/W2163496225","https://openalex.org/W2798273904","https://openalex.org/W3022480384","https://openalex.org/W4285719527"],"related_works":["https://openalex.org/W2122871747","https://openalex.org/W3107474891","https://openalex.org/W2026800644","https://openalex.org/W3189063219","https://openalex.org/W2157882971","https://openalex.org/W2128004172","https://openalex.org/W1594557686","https://openalex.org/W2132105173","https://openalex.org/W1534186112","https://openalex.org/W568145132"],"abstract_inverted_index":{"We":[0,142,169],"present":[1,115],"a":[2,13,75,83,98,153],"comparison":[3],"of":[4,12,32,42,52,65,74,82,122,135,161],"methods":[5],"to":[6,48,79,131,184],"estimate":[7],"the":[8,19,33,40,43,50,53,66,72,80,92,123,133,136,146,162,176],"shape":[9,41,62,178,187],"and":[10,26,63,167,188],"orientation":[11],"locomoting":[14],"snake":[15,44,67,124,163],"robot":[16,54,68,125],"by":[17,199],"fusing":[18],"robot's":[20,164,177],"redundant":[21],"internal":[22],"proprioceptive":[23],"sensors":[24],"using":[25,145],"Extended":[27],"Kalman":[28],"Filter":[29],"(EKF).":[30],"All":[31],"estimators":[34],"used":[35,127],"in":[36,71,158,173,196],"this":[37],"work":[38],"represent":[39],"with":[45,91,179],"gait":[46,180],"parameters":[47,181],"reduce":[49],"complexity":[51],"configuration":[55],"space.":[56],"The":[57],"compared":[58],"approaches":[59],"for":[60,106],"representing":[61,175],"pose":[64,81],"differ":[69],"primarily":[70],"use":[73],"body":[76,149,155],"frame":[77],"fixed":[78,154],"single":[84],"module":[85],"versus":[86],"one":[87,110],"that":[88,101,144],"is":[89,126,182],"aligned":[90],"virtual":[93,147],"chassis.":[94],"Additionally,":[95],"we":[96,114],"evaluate":[97],"state":[99,137],"representation":[100],"explicitly":[102,200],"tracks":[103],"joint":[104,202],"angles":[105],"improved":[107,159,194],"estimates.":[108],"For":[109],"particular":[111],"gait,":[112],"rolling,":[113],"experimental":[116],"data":[117,121],"where":[118],"motion":[119],"capture":[120],"as":[128],"ground":[129],"truth":[130],"compare":[132],"accuracy":[134,160],"estimates":[138],"from":[139],"these":[140],"techniques.":[141],"show":[143,171],"chassis":[148],"frame,":[150,156],"rather":[151],"than":[152],"results":[157],"estimated":[165,186],"pitch":[166],"roll.":[168],"also":[170],"that,":[172],"general,":[174],"sufficient":[183],"accurately":[185],"pose,":[189],"though":[190],"it":[191],"can":[192],"be":[193],"upon":[195],"specific":[197],"cases":[198],"modeling":[201],"angles.":[203]},"counts_by_year":[{"year":2024,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2020,"cited_by_count":1},{"year":2017,"cited_by_count":4},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":3},{"year":2013,"cited_by_count":2}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}