{"id":"https://openalex.org/W2775394513","doi":"https://doi.org/10.1109/iros.2017.8206094","title":"Challenges in visual and inertial information gathering for a sprawling posture robot","display_name":"Challenges in visual and inertial information gathering for a sprawling posture robot","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2775394513","doi":"https://doi.org/10.1109/iros.2017.8206094","mag":"2775394513"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/257126","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5073004521","display_name":"Mahsa Parsapour","orcid":"https://orcid.org/0000-0001-9109-8258"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Mahsa Parsapour","raw_affiliation_strings":["Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory (BIOROB), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory (BIOROB), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5024362402","display_name":"Kamilo Melo","orcid":"https://orcid.org/0000-0003-1869-412X"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Kamilo Melo","raw_affiliation_strings":["Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory (BIOROB), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory (BIOROB), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5029983916","display_name":"Tomislav Horvat","orcid":"https://orcid.org/0000-0002-8318-2916"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Tomislav Horvat","raw_affiliation_strings":["Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory (BIOROB), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory (BIOROB), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5069603317","display_name":"Auke Jan Ijspeert","orcid":"https://orcid.org/0000-0003-1417-9980"},"institutions":[{"id":"https://openalex.org/I5124864","display_name":"\u00c9cole Polytechnique F\u00e9d\u00e9rale de Lausanne","ror":"https://ror.org/02s376052","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I5124864"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Auke J. Ijspeert","raw_affiliation_strings":["Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory (BIOROB), Lausanne, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne (EPFL), Biorobotics Laboratory (BIOROB), Lausanne, Switzerland","institution_ids":["https://openalex.org/I5124864"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I5124864"],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"2691","last_page":"2697"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998999834060669,"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":0.9998999834060669,"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":0.9970999956130981,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9782000184059143,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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":0.811901867389679},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7015052437782288},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.698638916015625},{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.6440569758415222},{"id":"https://openalex.org/keywords/search-and-rescue","display_name":"Search and rescue","score":0.612278163433075},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.5829094052314758},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5540657043457031},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5527101755142212},{"id":"https://openalex.org/keywords/human\u2013computer-interaction","display_name":"Human\u2013computer interaction","score":0.4127640724182129},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.06426918506622314}],"concepts":[{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.811901867389679},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7015052437782288},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.698638916015625},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.6440569758415222},{"id":"https://openalex.org/C2775935494","wikidata":"https://www.wikidata.org/wiki/Q741964","display_name":"Search and rescue","level":3,"score":0.612278163433075},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.5829094052314758},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5540657043457031},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5527101755142212},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.4127640724182129},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.06426918506622314},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/iros.2017.8206094","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206094","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},{"id":"pmh:oai:infoscience.epfl.ch:257126","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/257126","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:257126","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/257126","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"conference proceedings"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":16,"referenced_works":["https://openalex.org/W1968034339","https://openalex.org/W1976980249","https://openalex.org/W2000146415","https://openalex.org/W2111904757","https://openalex.org/W2115499947","https://openalex.org/W2142757316","https://openalex.org/W2167896722","https://openalex.org/W2200522945","https://openalex.org/W2469381446","https://openalex.org/W2587536580","https://openalex.org/W2912608789","https://openalex.org/W4236914428","https://openalex.org/W4250058668","https://openalex.org/W4250087872","https://openalex.org/W4253729359","https://openalex.org/W4256431479"],"related_works":["https://openalex.org/W3213331859","https://openalex.org/W4226458444","https://openalex.org/W4390637946","https://openalex.org/W4226082913","https://openalex.org/W2117893626","https://openalex.org/W2891960103","https://openalex.org/W2920942130","https://openalex.org/W2807943943","https://openalex.org/W1518615326","https://openalex.org/W2160229054"],"abstract_inverted_index":{"We":[0],"discuss":[1],"challenges":[2],"a":[3,12,46],"sprawling":[4],"posture":[5],"legged":[6,43,114],"robot":[7,66],"faces":[8],"when":[9,27],"moving":[10],"in":[11,119],"complex":[13],"environment.":[14],"These":[15],"kind":[16],"of":[17,112],"robots":[18,44,115],"can":[19],"be":[20],"used":[21,31],"for":[22,39,82],"search":[23,120],"and":[24,32,79,85,121],"rescue":[25,122],"applications":[26],"proper":[28],"sensors":[29,41,70],"are":[30,106],"placed":[33],"correctly.":[34],"Finding":[35],"an":[36],"adequate":[37],"position":[38],"placing":[40],"on":[42],"with":[45,68,94],"segmented":[47],"spine":[48],"to":[49,71,99,108,117],"maximize":[50],"the":[51,64,101,110],"information":[52,81],"retrieval":[53],"is":[54],"not":[55],"trivial.":[56],"In":[57],"this":[58],"paper,":[59],"we":[60,90],"talk":[61],"about":[62],"equipping":[63],"salamanderlike":[65],"Pleurobot":[67,118],"necessary":[69],"understand":[72],"its":[73],"challenges.":[74],"Our":[75],"setup":[76],"gathers":[77],"visual":[78],"inertial":[80],"3D":[83],"mapping":[84],"localization.":[86],"To":[87],"do":[88],"so,":[89],"have":[91],"come":[92],"up":[93],"three":[95],"different":[96],"experimental":[97],"terrains":[98],"analyze":[100],"sensing":[102],"behavior.":[103],"The":[104],"results":[105],"examples":[107],"understanding":[109],"behavior":[111],"quadrupedal":[113],"similar":[116],"scenarios.":[123]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1},{"year":2019,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}