{"id":"https://openalex.org/W2773721509","doi":"https://doi.org/10.1109/iros.2017.8206533","title":"Dynamically decoupling base and end-effector motion for mobile manipulation using visual-inertial sensing","display_name":"Dynamically decoupling base and end-effector motion for mobile manipulation using visual-inertial sensing","publication_year":2017,"publication_date":"2017-09-01","ids":{"openalex":"https://openalex.org/W2773721509","doi":"https://doi.org/10.1109/iros.2017.8206533","mag":"2773721509"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2017.8206533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206533","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":"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/A5046693109","display_name":"Timothy Sandy","orcid":"https://orcid.org/0000-0002-6777-0857"},"institutions":[{"id":"https://openalex.org/I2799323385","display_name":"Board of the Swiss Federal Institutes of Technology","ror":"https://ror.org/01rvn4p91","country_code":"CH","type":"government","lineage":["https://openalex.org/I2799323385"]},{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Timothy Sandy","raw_affiliation_strings":["Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH"],"affiliations":[{"raw_affiliation_string":"Eidgenossische Technische Hochschule Zurich, Zurich, ZH, CH","institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5077279214","display_name":"Jonas Buchli","orcid":"https://orcid.org/0000-0001-7494-8492"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jonas Buchli","raw_affiliation_strings":["Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland"],"affiliations":[{"raw_affiliation_string":"Agile & Dexterous Robotics Lab, ETH Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5046693109"],"corresponding_institution_ids":["https://openalex.org/I2799323385","https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":1.3841,"has_fulltext":false,"cited_by_count":17,"citation_normalized_percentile":{"value":0.80742692,"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":"6299","last_page":"6306"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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"}},"topics":[{"id":"https://openalex.org/T11687","display_name":"Teleoperation and Haptic Systems","score":0.9991999864578247,"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"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9977999925613403,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9973999857902527,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6591570377349854},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5952694416046143},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.5917414426803589},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5807563662528992},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5788460373878479},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5085736513137817},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.47757914662361145},{"id":"https://openalex.org/keywords/sensor-fusion","display_name":"Sensor fusion","score":0.4597250819206238},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.44142091274261475},{"id":"https://openalex.org/keywords/decoupling","display_name":"Decoupling (probability)","score":0.4179805517196655},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24848896265029907},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.23592469096183777},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.16771674156188965},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1256074607372284}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6591570377349854},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5952694416046143},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.5917414426803589},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5807563662528992},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5788460373878479},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5085736513137817},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.47757914662361145},{"id":"https://openalex.org/C33954974","wikidata":"https://www.wikidata.org/wiki/Q486494","display_name":"Sensor fusion","level":2,"score":0.4597250819206238},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.44142091274261475},{"id":"https://openalex.org/C205606062","wikidata":"https://www.wikidata.org/wiki/Q5249645","display_name":"Decoupling (probability)","level":2,"score":0.4179805517196655},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24848896265029907},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.23592469096183777},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.16771674156188965},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1256074607372284},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2017.8206533","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2017.8206533","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"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W46519310","https://openalex.org/W1521470386","https://openalex.org/W1991793962","https://openalex.org/W2037914955","https://openalex.org/W2049750053","https://openalex.org/W2056358962","https://openalex.org/W2099609140","https://openalex.org/W2100377502","https://openalex.org/W2110498236","https://openalex.org/W2112474089","https://openalex.org/W2114006755","https://openalex.org/W2125188427","https://openalex.org/W2125618836","https://openalex.org/W2129276668","https://openalex.org/W2164032318","https://openalex.org/W2164514556","https://openalex.org/W2167501464","https://openalex.org/W2182349353","https://openalex.org/W2197847098","https://openalex.org/W2201087437","https://openalex.org/W2329360430","https://openalex.org/W2410639023","https://openalex.org/W2506237317","https://openalex.org/W2645990732","https://openalex.org/W2745007981","https://openalex.org/W4230766380","https://openalex.org/W4251861244","https://openalex.org/W6601886159","https://openalex.org/W6739409706"],"related_works":["https://openalex.org/W4313561376","https://openalex.org/W3103825105","https://openalex.org/W3027880158","https://openalex.org/W3207533102","https://openalex.org/W1617565119","https://openalex.org/W160381218","https://openalex.org/W2512958550","https://openalex.org/W2004102934","https://openalex.org/W4366455350","https://openalex.org/W2329266651"],"abstract_inverted_index":{"In":[0],"this":[1,77,105],"work":[2],"we":[3],"present":[4,33],"a":[5,20,34,57,81,108],"co-located":[6],"task":[7,82],"space":[8,83],"sensing":[9],"and":[10,28,98],"control":[11,15,49,84],"system":[12,106],"designed":[13],"to":[14,79],"the":[16,24,88,95,102,118],"end-effector":[17,38],"motion":[18,39],"of":[19,26,94,104,120],"mobile":[21],"manipulator":[22],"in":[23,46,65,72,117],"presence":[25,119],"dynamic":[27],"unknown":[29,122],"base":[30,96,123],"motion.":[31,99,124],"We":[32,54,75,100],"method":[35],"for":[36,44,70],"generating":[37,66],"estimates":[40,69],"at":[41,87],"1":[42],"kilohertz":[43],"use":[45,71,76],"real":[47,73],"time":[48],"through":[50],"visual-inertial":[51],"sensor":[52],"fusion.":[53],"show":[55],"that":[56],"Moving":[58],"Horizon":[59],"Estimator":[60],"outperforms":[61],"Kalman":[62],"filter-based":[63],"methods":[64],"accurate":[67],"predictive":[68],"time.":[74],"estimator":[78],"close":[80],"loop":[85],"directly":[86],"end-effector,":[89],"assuming":[90],"no":[91],"prior":[92],"knowledge":[93],"pose":[97],"demonstrate":[101],"performance":[103],"on":[107],"hydraulically":[109],"actuated":[110],"arm":[111],"which":[112],"performs":[113],"task-space":[114],"tracking":[115],"tasks":[116],"significant":[121]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":4},{"year":2021,"cited_by_count":2},{"year":2020,"cited_by_count":1},{"year":2019,"cited_by_count":5},{"year":2018,"cited_by_count":1}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}