{"id":"https://openalex.org/W4312655650","doi":"https://doi.org/10.1109/iros47612.2022.9981767","title":"Collision detection and identification for a legged manipulator","display_name":"Collision detection and identification for a legged manipulator","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312655650","doi":"https://doi.org/10.1109/iros47612.2022.9981767"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9981767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981767","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 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/A5078307749","display_name":"Jessie Van Dam","orcid":null},"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":"Jessie Van Dam","raw_affiliation_strings":["ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5061822479","display_name":"Andreea Tulbure","orcid":"https://orcid.org/0000-0003-3775-700X"},"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":"Andreea Tulbure","raw_affiliation_strings":["ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5004921250","display_name":"Maria Vittoria Minniti","orcid":"https://orcid.org/0000-0001-7272-0937"},"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":"Maria Vittoria Minniti","raw_affiliation_strings":["ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080673264","display_name":"Firas Abi-Farraj","orcid":"https://orcid.org/0000-0002-1600-6330"},"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":"Firas Abi-Farraj","raw_affiliation_strings":["ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"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":"Marco Hutter","raw_affiliation_strings":["ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Robotic Systems Lab,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I35440088"],"apc_list":null,"apc_paid":null,"fwci":5.1106,"has_fulltext":false,"cited_by_count":16,"citation_normalized_percentile":{"value":0.96985603,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"13602","last_page":"13609"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9979000091552734,"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":0.9979000091552734,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9811000227928162,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9764999747276306,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/collision","display_name":"Collision","score":0.7498528957366943},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.7193876504898071},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6896653771400452},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.632429838180542},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.6040132641792297},{"id":"https://openalex.org/keywords/key","display_name":"Key (lock)","score":0.5722422003746033},{"id":"https://openalex.org/keywords/collision-detection","display_name":"Collision detection","score":0.5474388003349304},{"id":"https://openalex.org/keywords/collision-avoidance","display_name":"Collision avoidance","score":0.5313162207603455},{"id":"https://openalex.org/keywords/span","display_name":"Span (engineering)","score":0.5165130496025085},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.4359793961048126},{"id":"https://openalex.org/keywords/manipulator","display_name":"Manipulator (device)","score":0.4336357116699219},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3812800943851471},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.3655914068222046},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.22781136631965637},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.22643882036209106},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08431375026702881},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.05615946650505066}],"concepts":[{"id":"https://openalex.org/C121704057","wikidata":"https://www.wikidata.org/wiki/Q352070","display_name":"Collision","level":2,"score":0.7498528957366943},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.7193876504898071},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6896653771400452},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.632429838180542},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.6040132641792297},{"id":"https://openalex.org/C26517878","wikidata":"https://www.wikidata.org/wiki/Q228039","display_name":"Key (lock)","level":2,"score":0.5722422003746033},{"id":"https://openalex.org/C199668693","wikidata":"https://www.wikidata.org/wiki/Q1550329","display_name":"Collision detection","level":3,"score":0.5474388003349304},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.5313162207603455},{"id":"https://openalex.org/C2778753569","wikidata":"https://www.wikidata.org/wiki/Q1960395","display_name":"Span (engineering)","level":2,"score":0.5165130496025085},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.4359793961048126},{"id":"https://openalex.org/C2781347998","wikidata":"https://www.wikidata.org/wiki/Q1587588","display_name":"Manipulator (device)","level":3,"score":0.4336357116699219},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3812800943851471},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.3655914068222046},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.22781136631965637},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.22643882036209106},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08431375026702881},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.05615946650505066},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","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/C38652104","wikidata":"https://www.wikidata.org/wiki/Q3510521","display_name":"Computer security","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros47612.2022.9981767","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9981767","pdf_url":null,"source":{"id":"https://openalex.org/S4363607704","display_name":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","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":"2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":31,"referenced_works":["https://openalex.org/W1666709923","https://openalex.org/W1964367587","https://openalex.org/W2010419654","https://openalex.org/W2080426295","https://openalex.org/W2107195452","https://openalex.org/W2128722009","https://openalex.org/W2137437364","https://openalex.org/W2149085596","https://openalex.org/W2512504484","https://openalex.org/W2567528403","https://openalex.org/W2567951864","https://openalex.org/W2736449616","https://openalex.org/W2762248135","https://openalex.org/W2889693550","https://openalex.org/W2895643137","https://openalex.org/W2912686386","https://openalex.org/W2938142681","https://openalex.org/W2952309856","https://openalex.org/W2964738465","https://openalex.org/W2965700036","https://openalex.org/W2981770500","https://openalex.org/W2982885935","https://openalex.org/W2999580541","https://openalex.org/W3017271867","https://openalex.org/W3082421160","https://openalex.org/W3110104648","https://openalex.org/W3142410314","https://openalex.org/W3175913924","https://openalex.org/W3205332174","https://openalex.org/W3207893046","https://openalex.org/W3210040340"],"related_works":["https://openalex.org/W2889566344","https://openalex.org/W2361971697","https://openalex.org/W4317634134","https://openalex.org/W2003273776","https://openalex.org/W2981729160","https://openalex.org/W2060777666","https://openalex.org/W2743212448","https://openalex.org/W2297407133","https://openalex.org/W2998672579","https://openalex.org/W2073521456"],"abstract_inverted_index":{"To":[0],"safely":[1],"deploy":[2],"legged":[3],"robots":[4],"in":[5,110],"the":[6,16,26,52,76,79,100,120],"real":[7],"world":[8],"it":[9],"is":[10,65],"necessary":[11],"to":[12,18,50],"provide":[13],"them":[14],"with":[15,106],"ability":[17],"reliably":[19],"detect":[20],"unexpected":[21],"contacts":[22],"and":[23,38,60,90,115],"accurately":[24],"estimate":[25,51],"corresponding":[27],"contact":[28],"force.":[29],"In":[30],"this":[31,63],"paper,":[32],"we":[33],"propose":[34],"a":[35,42],"collision":[36,53,70],"detection":[37],"identification":[39],"pipeline":[40],"for":[41,67,85],"quadrupedal":[43],"manipulator.":[44],"We":[45,73,102],"first":[46],"introduce":[47],"an":[48],"approach":[49],"time":[54],"span":[55],"based":[56],"on":[57,99,119],"band-pass":[58],"filtering":[59],"show":[61],"that":[62],"information":[64],"key":[66],"obtaining":[68],"accurate":[69],"force":[71,81],"estimates.":[72],"then":[74],"improve":[75],"accuracy":[77],"of":[78,95],"identified":[80],"magnitude":[82],"by":[83],"compensating":[84],"model":[86],"inaccuracies,":[87],"unmodeled":[88,117],"loads,":[89],"any":[91],"other":[92],"potential":[93],"source":[94],"quasi-static":[96],"disturbances":[97],"acting":[98],"robot.":[101,121],"validate":[103],"our":[104],"framework":[105],"extensive":[107],"hardware":[108],"experiments":[109],"various":[111],"scenarios,":[112],"including":[113],"trotting":[114],"additional":[116],"load":[118]},"counts_by_year":[{"year":2025,"cited_by_count":5},{"year":2024,"cited_by_count":7},{"year":2023,"cited_by_count":4}],"updated_date":"2026-06-26T08:34:08.712188","created_date":"2025-10-10T00:00:00"}
