{"id":"https://openalex.org/W2089993419","doi":"https://doi.org/10.1109/iros.2012.6386176","title":"A sensor fusion approach to improve joint angle and angular rate signals in articulated robots","display_name":"A sensor fusion approach to improve joint angle and angular rate signals in articulated robots","publication_year":2012,"publication_date":"2012-10-01","ids":{"openalex":"https://openalex.org/W2089993419","doi":"https://doi.org/10.1109/iros.2012.6386176","mag":"2089993419"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2012.6386176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386176","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":"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/A5050420397","display_name":"Daniel Kubus","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Daniel Kubus","raw_affiliation_strings":["Inst. f\u00fcr Robotik und Prozessinformatik, TU Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inst. f\u00fcr Robotik und Prozessinformatik, TU Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5035476966","display_name":"Corrado Guarino Lo Bianco","orcid":"https://orcid.org/0000-0002-0046-9242"},"institutions":[{"id":"https://openalex.org/I124601658","display_name":"University of Parma","ror":"https://ror.org/02k7wn190","country_code":"IT","type":"education","lineage":["https://openalex.org/I124601658"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Corrado Guarino Lo Bianco","raw_affiliation_strings":["Dip. di Ing. dellInformazione, Universit\u00e0 degli Studi di Parma, Italy","Dip. di Ing. dell'Informazione, Universit\u00e0 degli Studi di Parma, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Dip. di Ing. dellInformazione, Universit\u00e0 degli Studi di Parma, Italy","institution_ids":["https://openalex.org/I124601658"]},{"raw_affiliation_string":"Dip. di Ing. dell'Informazione, Universit\u00e0 degli Studi di Parma, Italy","institution_ids":["https://openalex.org/I124601658"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5074832005","display_name":"Friedrich M. Wahl","orcid":null},"institutions":[{"id":"https://openalex.org/I94509681","display_name":"Technische Universit\u00e4t Braunschweig","ror":"https://ror.org/010nsgg66","country_code":"DE","type":"education","lineage":["https://openalex.org/I94509681"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Friedrich M. Wahl","raw_affiliation_strings":["Inst. f\u00fcr Robotik und Prozessinformatik, TU Braunschweig, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Inst. f\u00fcr Robotik und Prozessinformatik, TU Braunschweig, Germany","institution_ids":["https://openalex.org/I94509681"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3726,"has_fulltext":false,"cited_by_count":6,"citation_normalized_percentile":{"value":0.66432901,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":96},"biblio":{"volume":"3","issue":null,"first_page":"2736","last_page":"2741"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12564","display_name":"Sensor Technology and Measurement Systems","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12564","display_name":"Sensor Technology and Measurement Systems","score":0.9987999796867371,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11325","display_name":"Inertial Sensor and Navigation","score":0.9954000115394592,"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/T14163","display_name":"Astronomical Observations and Instrumentation","score":0.9952999949455261,"subfield":{"id":"https://openalex.org/subfields/2206","display_name":"Computational Mechanics"},"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/encoder","display_name":"Encoder","score":0.6268487572669983},{"id":"https://openalex.org/keywords/gyroscope","display_name":"Gyroscope","score":0.6204040050506592},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.5768464803695679},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5603059530258179},{"id":"https://openalex.org/keywords/angular-displacement","display_name":"Angular displacement","score":0.5497090816497803},{"id":"https://openalex.org/keywords/rotary-encoder","display_name":"Rotary encoder","score":0.5479951500892639},{"id":"https://openalex.org/keywords/quantization","display_name":"Quantization (signal processing)","score":0.48871564865112305},{"id":"https://openalex.org/keywords/signal","display_name":"SIGNAL (programming language)","score":0.47410067915916443},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.46316206455230713},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.45243197679519653},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2640796899795532},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.2426643669605255},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.20795735716819763},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.2032037377357483},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.06782716512680054}],"concepts":[{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.6268487572669983},{"id":"https://openalex.org/C158488048","wikidata":"https://www.wikidata.org/wiki/Q483400","display_name":"Gyroscope","level":2,"score":0.6204040050506592},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.5768464803695679},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5603059530258179},{"id":"https://openalex.org/C108439606","wikidata":"https://www.wikidata.org/wiki/Q3305038","display_name":"Angular displacement","level":2,"score":0.5497090816497803},{"id":"https://openalex.org/C37488316","wikidata":"https://www.wikidata.org/wiki/Q53699","display_name":"Rotary encoder","level":3,"score":0.5479951500892639},{"id":"https://openalex.org/C28855332","wikidata":"https://www.wikidata.org/wiki/Q198099","display_name":"Quantization (signal processing)","level":2,"score":0.48871564865112305},{"id":"https://openalex.org/C2779843651","wikidata":"https://www.wikidata.org/wiki/Q7390335","display_name":"SIGNAL (programming language)","level":2,"score":0.47410067915916443},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.46316206455230713},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.45243197679519653},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2640796899795532},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.2426643669605255},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.20795735716819763},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.2032037377357483},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.06782716512680054},{"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/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2012.6386176","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2012.6386176","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320875","display_name":"Deutscher Akademischer Austauschdienst","ror":"https://ror.org/039djdh30"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":25,"referenced_works":["https://openalex.org/W37247277","https://openalex.org/W132269255","https://openalex.org/W633766628","https://openalex.org/W1597236814","https://openalex.org/W1628100432","https://openalex.org/W2046234292","https://openalex.org/W2079939259","https://openalex.org/W2102435655","https://openalex.org/W2104169776","https://openalex.org/W2109256542","https://openalex.org/W2124750219","https://openalex.org/W2125968419","https://openalex.org/W2136348177","https://openalex.org/W2138898866","https://openalex.org/W2139831829","https://openalex.org/W2144512814","https://openalex.org/W2144831580","https://openalex.org/W2164537870","https://openalex.org/W3143451020","https://openalex.org/W3151255003","https://openalex.org/W3185673867","https://openalex.org/W4229897592","https://openalex.org/W4244612768","https://openalex.org/W6661903747","https://openalex.org/W6670729948"],"related_works":["https://openalex.org/W2092896760","https://openalex.org/W2068021791","https://openalex.org/W2373662871","https://openalex.org/W2168195809","https://openalex.org/W2063968051","https://openalex.org/W142004827","https://openalex.org/W2202333230","https://openalex.org/W185700364","https://openalex.org/W2157562427","https://openalex.org/W2989729090"],"abstract_inverted_index":{"Rotary":[0],"encoders":[1,29],"and":[2,28,74,98,112,123,134,162,197],"resolvers":[3,27],"are":[4,30,94,116,172,218],"by":[5,76,96,138,152,174],"far":[6],"the":[7,40,146,154,157,163,169,181,187,195,207,210],"most":[8],"common":[9],"sensors":[10],"to":[11,33,39,69,127],"measure":[12],"joint":[13,110],"angles":[14],"in":[15,71,78,145,168,212],"articulated":[16,216],"robots.":[17],"Since":[18],"various":[19],"control":[20,214],"approaches":[21,53],"require":[22],"angular":[23,35,64,89,113,124,147,159,183],"rates":[24,65],"as":[25],"well,":[26],"also":[31],"employed":[32],"derive":[34],"rate":[36,90,114,125,148,160,184],"signals.":[37],"Due":[38,68],"involved":[41],"differentiation":[42],"operation,":[43],"however,":[44],"quantization":[45,135],"noise":[46],"may":[47,103],"be":[48,104],"augmented":[49],"significantly.":[50],"Advanced":[51],"filtering":[52],"can":[54],"only":[55],"partially":[56],"overcome":[57],"this":[58],"drawback.":[59],"Therefore,":[60],"direct":[61],"measurement":[62],"of":[63,194,201,209,215],"is":[66,150],"desirable.":[67],"advancements":[70],"manufacturing":[72],"technology":[73],"pushed":[75],"applications":[77],"entertainment":[79],"devices,":[80],"MEMS":[81],"gyroscopes":[82],"have":[83],"become":[84],"an":[85],"attractive":[86],"alternative":[87],"for":[88],"measurement.":[91],"Unfortunately,":[92],"they":[93],"affected":[95],"bias":[97,133],"other":[99],"non-negligible":[100],"disturbances,":[101],"which":[102,179],"a":[105,175,192,198],"serious":[106],"problem":[107],"if":[108],"consistent":[109],"angle":[111],"measurements":[115],"required.":[117],"The":[118],"proposed":[119],"approach":[120,196,211],"fuses":[121],"encoder":[122,164,170,188],"signals":[126],"mitigate":[128],"their":[129,140],"major":[130],"drawbacks":[131],"-":[132,137],"errors":[136,167],"exploiting":[139],"individual":[141],"strong":[142],"points.":[143],"Bias":[144],"signal":[149,161,171],"eliminated":[151],"analyzing":[153],"deviation":[155],"between":[156],"integrated":[158,182],"signal.":[165,189],"Quantization":[166],"reduced":[173],"so-called":[176],"complementary":[177],"filter":[178],"blends":[180],"output":[185],"with":[186],"Apart":[190],"from":[191],"description":[193],"theoretical":[199],"analysis":[200],"its":[202],"characteristics,":[203],"experimental":[204],"results":[205],"demonstrating":[206],"effectiveness":[208],"closed-loop":[213],"robots":[217],"presented.":[219]},"counts_by_year":[{"year":2020,"cited_by_count":2},{"year":2018,"cited_by_count":1},{"year":2016,"cited_by_count":2},{"year":2014,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}
