{"id":"https://openalex.org/W1998834815","doi":"https://doi.org/10.1109/iros.2012.6386162","title":"Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data","display_name":"Online calibration of a humanoid robot head from relative encoders, IMU readings and visual data","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W1998834815","doi":"https://doi.org/10.1109/iros.2012.6386162","mag":"1998834815"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"conference-paper","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/A5025030922","display_name":"Nuno Moutinho","orcid":"https://orcid.org/0000-0002-9242-8324"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Nuno Moutinho","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088379096","display_name":"Martim Brand\u00e3o","orcid":"https://orcid.org/0000-0002-2003-0675"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]},{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["JP","PT"],"is_corresponding":false,"raw_author_name":"Martim Brandao","raw_affiliation_strings":["Faculty of Science and Engineering, Waseda University, Tokyo, Japan","Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]},{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5048188209","display_name":"Ricardo Ferreira","orcid":"https://orcid.org/0000-0001-6425-8412"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Ricardo Ferreira","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5091765649","display_name":"Jos\u00e9 Gaspar","orcid":"https://orcid.org/0000-0002-9502-2151"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Gaspar","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028959217","display_name":"Alexandre Bernardino","orcid":"https://orcid.org/0000-0003-3991-1269"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Alexandre Bernardino","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Faculty of Science and Engineering, Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Faculty of Science and Engineering, Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5037378255","display_name":"Jos\u00e9 Santos-Victor","orcid":"https://orcid.org/0000-0002-9036-1728"},"institutions":[{"id":"https://openalex.org/I4210166615","display_name":"INESC TEC","ror":"https://ror.org/05fa8ka61","country_code":"PT","type":"nonprofit","lineage":["https://openalex.org/I4210125590","https://openalex.org/I4210166615"]},{"id":"https://openalex.org/I4387152517","display_name":"Instituto Superior T\u00e9cnico","ror":"https://ror.org/03db2by73","country_code":"PT","type":"education","lineage":["https://openalex.org/I141596103","https://openalex.org/I4387152517"]}],"countries":["PT"],"is_corresponding":false,"raw_author_name":"Jose Santos-Victor","raw_affiliation_strings":["Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Institute for Systems and Robotics, Instituto Superior T\u00e9cnico in Lisbon, Portugal","institution_ids":["https://openalex.org/I4210166615","https://openalex.org/I4387152517"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":8,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":"3","issue":null,"first_page":"2070","last_page":"2075"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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/T10653","display_name":"Robot Manipulation and Learning","score":0.996999979019165,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.996999979019165,"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/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9804999828338623,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8799619674682617},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6778042316436768},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6733322143554688},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.6701016426086426},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.564815878868103},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5067744851112366},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.4922460615634918},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.46830713748931885},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.4232107996940613},{"id":"https://openalex.org/keywords/head","display_name":"Head (geology)","score":0.4196019768714905},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.39551785588264465},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.12065315246582031},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.11341655254364014}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8799619674682617},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6778042316436768},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6733322143554688},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6701016426086426},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.564815878868103},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5067744851112366},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.4922460615634918},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.46830713748931885},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.4232107996940613},{"id":"https://openalex.org/C2780312720","wikidata":"https://www.wikidata.org/wiki/Q5689100","display_name":"Head (geology)","level":2,"score":0.4196019768714905},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.39551785588264465},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.12065315246582031},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.11341655254364014},{"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/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","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/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.0},{"id":"https://openalex.org/C114793014","wikidata":"https://www.wikidata.org/wiki/Q52109","display_name":"Geomorphology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2012.6386162","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386162","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2012 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},{"id":"pmh:oai:CiteSeerX.psu:10.1.1.297.7170","is_oa":false,"landing_page_url":"http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.297.7170","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"http://users.isr.ist.utl.pt/~jag/publications/12-IROS-NMoutinho.pdf","raw_type":"text"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.8799999952316284,"display_name":"Quality Education","id":"https://metadata.un.org/sdg/4"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":14,"referenced_works":["https://openalex.org/W1587164240","https://openalex.org/W1744883566","https://openalex.org/W1977822596","https://openalex.org/W2066691972","https://openalex.org/W2071586799","https://openalex.org/W2102592282","https://openalex.org/W2111308925","https://openalex.org/W2131708731","https://openalex.org/W2137828103","https://openalex.org/W2139986033","https://openalex.org/W2144913215","https://openalex.org/W2165447553","https://openalex.org/W2310411677","https://openalex.org/W6698337774"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2091018038","https://openalex.org/W4256317079","https://openalex.org/W2129850190","https://openalex.org/W2295425790","https://openalex.org/W4389009354","https://openalex.org/W2225378543","https://openalex.org/W2756332284","https://openalex.org/W3043079964","https://openalex.org/W2372609347"],"abstract_inverted_index":{"Humanoid":[0],"robots":[1],"are":[2,12],"complex":[3],"sensorimotor":[4,49],"systems":[5],"where":[6],"the":[7,23,26,30,40,47],"existence":[8,41],"of":[9,13,42,46],"internal":[10,44],"models":[11,45],"utmost":[14],"importance":[15],"both":[16],"for":[17,21],"control":[18],"purposes":[19],"and":[20],"predicting":[22],"changes":[24],"in":[25],"world":[27],"arising":[28],"from":[29],"system's":[31],"own":[32],"actions.":[33],"This":[34],"so-called":[35],"expected":[36],"perception":[37],"relies":[38],"on":[39],"accurate":[43],"robot's":[48],"chains.":[50]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":3},{"year":2015,"cited_by_count":1},{"year":2014,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
