{"id":"https://openalex.org/W4312648854","doi":"https://doi.org/10.1109/iros47612.2022.9982221","title":"Watch Me Calibrate My Force-Sensing Shoes!","display_name":"Watch Me Calibrate My Force-Sensing Shoes!","publication_year":2022,"publication_date":"2022-10-23","ids":{"openalex":"https://openalex.org/W4312648854","doi":"https://doi.org/10.1109/iros47612.2022.9982221"},"language":"en","primary_location":{"id":"doi:10.1109/iros47612.2022.9982221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982221","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/A5017717938","display_name":"Yuanfeng Han","orcid":"https://orcid.org/0000-0001-5182-6804"},"institutions":[{"id":"https://openalex.org/I145311948","display_name":"Johns Hopkins University","ror":"https://ror.org/00za53h95","country_code":"US","type":"education","lineage":["https://openalex.org/I145311948"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Yuanfeng Han","raw_affiliation_strings":["Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA","Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Johns Hopkins University,Department of Mechanical Engineering,Baltimore,MD,USA","institution_ids":["https://openalex.org/I145311948"]},{"raw_affiliation_string":"Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA","institution_ids":["https://openalex.org/I145311948"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003921006","display_name":"Boren Jiang","orcid":"https://orcid.org/0000-0002-6569-6382"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Boren Jiang","raw_affiliation_strings":["University of Singapore,Department of Mechanical Engineering National,Singapore","Department of Mechanical Engineering National, University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Singapore,Department of Mechanical Engineering National,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering National, University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5012775344","display_name":"Gregory S. Chirikjian","orcid":"https://orcid.org/0000-0003-0542-9028"},"institutions":[{"id":"https://openalex.org/I165932596","display_name":"National University of Singapore","ror":"https://ror.org/01tgyzw49","country_code":"SG","type":"education","lineage":["https://openalex.org/I165932596"]}],"countries":["SG"],"is_corresponding":false,"raw_author_name":"Gregory S. Chirikjian","raw_affiliation_strings":["University of Singapore,Department of Mechanical Engineering National,Singapore","Department of Mechanical Engineering National, University of Singapore, Singapore"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Singapore,Department of Mechanical Engineering National,Singapore","institution_ids":["https://openalex.org/I165932596"]},{"raw_affiliation_string":"Department of Mechanical Engineering National, University of Singapore, Singapore","institution_ids":["https://openalex.org/I165932596"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.3194,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.51447428,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"8344","last_page":"8351"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9997000098228455,"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":0.9997000098228455,"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":0.9976999759674072,"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":0.9890999794006348,"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/humanoid-robot","display_name":"Humanoid robot","score":0.8141474723815918},{"id":"https://openalex.org/keywords/calibration","display_name":"Calibration","score":0.7536324262619019},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.7034161686897278},{"id":"https://openalex.org/keywords/center-of-pressure","display_name":"Center of pressure (fluid mechanics)","score":0.7013885974884033},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6164258718490601},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6038020253181458},{"id":"https://openalex.org/keywords/ground-truth","display_name":"Ground truth","score":0.5189259052276611},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.44641292095184326},{"id":"https://openalex.org/keywords/force-platform","display_name":"Force platform","score":0.438917875289917},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3506472110748291},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.34900498390197754},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.24381083250045776},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.13769462704658508},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.10828587412834167}],"concepts":[{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.8141474723815918},{"id":"https://openalex.org/C165838908","wikidata":"https://www.wikidata.org/wiki/Q736777","display_name":"Calibration","level":2,"score":0.7536324262619019},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.7034161686897278},{"id":"https://openalex.org/C76542214","wikidata":"https://www.wikidata.org/wiki/Q604830","display_name":"Center of pressure (fluid mechanics)","level":3,"score":0.7013885974884033},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6164258718490601},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6038020253181458},{"id":"https://openalex.org/C146849305","wikidata":"https://www.wikidata.org/wiki/Q370766","display_name":"Ground truth","level":2,"score":0.5189259052276611},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.44641292095184326},{"id":"https://openalex.org/C7625042","wikidata":"https://www.wikidata.org/wiki/Q17014421","display_name":"Force platform","level":2,"score":0.438917875289917},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3506472110748291},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.34900498390197754},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.24381083250045776},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.13769462704658508},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.10828587412834167},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C13393347","wikidata":"https://www.wikidata.org/wiki/Q8424","display_name":"Aerodynamics","level":2,"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/iros47612.2022.9982221","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros47612.2022.9982221","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":[{"score":0.47999998927116394,"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":23,"referenced_works":["https://openalex.org/W566530810","https://openalex.org/W1964198689","https://openalex.org/W2008221771","https://openalex.org/W2037729465","https://openalex.org/W2039683424","https://openalex.org/W2068275266","https://openalex.org/W2080154361","https://openalex.org/W2112314612","https://openalex.org/W2116626416","https://openalex.org/W2130912818","https://openalex.org/W2134085136","https://openalex.org/W2154393540","https://openalex.org/W2165178808","https://openalex.org/W2166045965","https://openalex.org/W2325540059","https://openalex.org/W2536168022","https://openalex.org/W2569453267","https://openalex.org/W2807227890","https://openalex.org/W2866208610","https://openalex.org/W2911393029","https://openalex.org/W3020506999","https://openalex.org/W3131987590","https://openalex.org/W3205945734"],"related_works":["https://openalex.org/W2108723098","https://openalex.org/W2004285645","https://openalex.org/W2097612772","https://openalex.org/W4283764879","https://openalex.org/W2549631550","https://openalex.org/W2769737716","https://openalex.org/W2131207187","https://openalex.org/W2885305709","https://openalex.org/W2789377032","https://openalex.org/W1573821050"],"abstract_inverted_index":{"This":[0,68],"paper":[1],"presents":[2],"a":[3,87,128],"novel":[4],"method":[5,17,75,91,124],"for":[6,76],"smaller-sized":[7],"humanoid":[8,82,130],"robots":[9],"to":[10,27,92,100],"self-calibrate":[11],"their":[12],"foot":[13,77],"force":[14,60],"sensors.":[15],"The":[16,23,39,107],"consists":[18],"of":[19,54],"two":[20],"steps:":[21],"1.":[22],"robot":[24],"is":[25,69,98,125],"commanded":[26],"move":[28],"along":[29],"planned":[30],"whole-body":[31],"trajectories":[32],"in":[33,80],"different":[34],"double":[35],"support":[36],"configurations.":[37],"2.":[38],"sensor":[40],"parameters":[41],"are":[42],"determined":[43],"by":[44],"minimizing":[45],"the":[46,49,63,70,102,111],"error":[47],"between":[48],"measured":[50,103],"and":[51,57,117,132],"modeled":[52],"center":[53],"pressure":[55],"(CoP)":[56],"ground":[58,95],"reaction":[59],"(GRF)":[61],"during":[62],"robot's":[64],"movement":[65],"using":[66,105,127],"optimization.":[67],"first":[71],"proposed":[72],"autonomous":[73],"calibration":[74,90],"force-sensing":[78,136],"devices":[79],"smaller":[81],"robots.":[83],"Furthermore,":[84],"we":[85],"introduce":[86],"high-accuracy":[88],"manual":[89,121],"establish":[93],"CoP":[94,104,116],"truth,":[96],"which":[97],"used":[99],"validate":[101],"self-calibration.":[106],"results":[108],"show":[109],"that":[110],"self-calibration":[112],"can":[113],"accurately":[114],"estimate":[115],"GRF":[118],"without":[119],"any":[120],"intervention.":[122],"Our":[123],"demonstrated":[126],"NAO":[129],"platform":[131],"our":[133],"previously":[134],"presented":[135],"shoes.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2024,"cited_by_count":1}],"updated_date":"2026-06-11T09:08:48.828518","created_date":"2025-10-10T00:00:00"}