{"id":"https://openalex.org/W4389667575","doi":"https://doi.org/10.1109/iros55552.2023.10342061","title":"Multi-IMU Proprioceptive Odometry for Legged Robots","display_name":"Multi-IMU Proprioceptive Odometry for Legged Robots","publication_year":2023,"publication_date":"2023-10-01","ids":{"openalex":"https://openalex.org/W4389667575","doi":"https://doi.org/10.1109/iros55552.2023.10342061"},"language":"en","primary_location":{"id":"doi:10.1109/iros55552.2023.10342061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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/A5083007366","display_name":"Shuo Yang","orcid":"https://orcid.org/0000-0002-3291-9076"},"institutions":[{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":true,"raw_author_name":"Shuo Yang","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute and Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA","Robotics Institute and Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute and Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]},{"raw_affiliation_string":"Robotics Institute and Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100609875","display_name":"Zixin Zhang","orcid":"https://orcid.org/0009-0007-6032-2051"},"institutions":[{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]},{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zixin Zhang","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute and Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA","Robotics Institute and Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute and Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]},{"raw_affiliation_string":"Robotics Institute and Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092394944","display_name":"Benjamin Bokser","orcid":null},"institutions":[{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Benjamin Bokser","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute and Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA","Robotics Institute and Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute and Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]},{"raw_affiliation_string":"Robotics Institute and Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA","institution_ids":["https://openalex.org/I74973139"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5003687365","display_name":"Zachary Manchester","orcid":"https://orcid.org/0000-0002-3071-7091"},"institutions":[{"id":"https://openalex.org/I4210114355","display_name":"Carnegie Robotics (United States)","ror":"https://ror.org/01ztv7k18","country_code":"US","type":"company","lineage":["https://openalex.org/I4210114355"]},{"id":"https://openalex.org/I74973139","display_name":"Carnegie Mellon University","ror":"https://ror.org/05x2bcf33","country_code":"US","type":"education","lineage":["https://openalex.org/I74973139"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Zachary Manchester","raw_affiliation_strings":["Carnegie Mellon University,Robotics Institute and Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA","Robotics Institute and Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA"],"affiliations":[{"raw_affiliation_string":"Carnegie Mellon University,Robotics Institute and Department of Mechanical Engineering,Pittsburgh,Pennsylvania,USA","institution_ids":["https://openalex.org/I74973139","https://openalex.org/I4210114355"]},{"raw_affiliation_string":"Robotics Institute and Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA","institution_ids":["https://openalex.org/I74973139"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5083007366"],"corresponding_institution_ids":["https://openalex.org/I4210114355","https://openalex.org/I74973139"],"apc_list":null,"apc_paid":null,"fwci":2.4749,"has_fulltext":false,"cited_by_count":22,"citation_normalized_percentile":{"value":0.89427303,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":null,"issue":null,"first_page":"774","last_page":"779"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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":0.9994999766349792,"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":0.9787999987602234,"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/T10326","display_name":"Indoor and Outdoor Localization Technologies","score":0.9775999784469604,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic 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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.8547818660736084},{"id":"https://openalex.org/keywords/odometry","display_name":"Odometry","score":0.8245030641555786},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6270447969436646},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.60521399974823},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5800245404243469},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.526201069355011},{"id":"https://openalex.org/keywords/fuse","display_name":"Fuse (electrical)","score":0.4756885766983032},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.4548528790473938},{"id":"https://openalex.org/keywords/encoder","display_name":"Encoder","score":0.4377678632736206},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.43427619338035583},{"id":"https://openalex.org/keywords/position","display_name":"Position (finance)","score":0.41690582036972046},{"id":"https://openalex.org/keywords/extended-kalman-filter","display_name":"Extended Kalman filter","score":0.4128965139389038},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.26781603693962097},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.258340984582901},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.06684428453445435}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.8547818660736084},{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8245030641555786},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6270447969436646},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.60521399974823},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5800245404243469},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.526201069355011},{"id":"https://openalex.org/C141353440","wikidata":"https://www.wikidata.org/wiki/Q182221","display_name":"Fuse (electrical)","level":2,"score":0.4756885766983032},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.4548528790473938},{"id":"https://openalex.org/C118505674","wikidata":"https://www.wikidata.org/wiki/Q42586063","display_name":"Encoder","level":2,"score":0.4377678632736206},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.43427619338035583},{"id":"https://openalex.org/C198082294","wikidata":"https://www.wikidata.org/wiki/Q3399648","display_name":"Position (finance)","level":2,"score":0.41690582036972046},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.4128965139389038},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.26781603693962097},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.258340984582901},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.06684428453445435},{"id":"https://openalex.org/C10138342","wikidata":"https://www.wikidata.org/wiki/Q43015","display_name":"Finance","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/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros55552.2023.10342061","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros55552.2023.10342061","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2023 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":37,"referenced_works":["https://openalex.org/W754028550","https://openalex.org/W1559536185","https://openalex.org/W1564897360","https://openalex.org/W1612997784","https://openalex.org/W1982902701","https://openalex.org/W2013002270","https://openalex.org/W2073288601","https://openalex.org/W2105934661","https://openalex.org/W2168974696","https://openalex.org/W2286354842","https://openalex.org/W2296228853","https://openalex.org/W2341165584","https://openalex.org/W2577008596","https://openalex.org/W2746349752","https://openalex.org/W2766539609","https://openalex.org/W2794127568","https://openalex.org/W2804892083","https://openalex.org/W2909553221","https://openalex.org/W2940914777","https://openalex.org/W2964168254","https://openalex.org/W2981924303","https://openalex.org/W2999816984","https://openalex.org/W3000625188","https://openalex.org/W3033353027","https://openalex.org/W3102386196","https://openalex.org/W3105048402","https://openalex.org/W3105214950","https://openalex.org/W3105311021","https://openalex.org/W3130987264","https://openalex.org/W3134432446","https://openalex.org/W3178901079","https://openalex.org/W3185776277","https://openalex.org/W4225244428","https://openalex.org/W4241459016","https://openalex.org/W4289950772","https://openalex.org/W4383108438","https://openalex.org/W6696250064"],"related_works":["https://openalex.org/W2998370018","https://openalex.org/W3125052734","https://openalex.org/W3123982513","https://openalex.org/W4386821976","https://openalex.org/W4391249506","https://openalex.org/W2951795132","https://openalex.org/W2755286209","https://openalex.org/W4312092966","https://openalex.org/W4387559098","https://openalex.org/W4367281123"],"abstract_inverted_index":{"This":[0,104],"paper":[1],"presents":[2],"a":[3,133],"novel,":[4],"low-cost":[5],"proprioceptive":[6],"sensing":[7,105],"solution":[8,106],"for":[9],"legged":[10],"robots":[11],"with":[12,131],"point":[13],"feet":[14],"to":[15,26,44,61,67,87,128],"achieve":[16],"accurate":[17],"low-drift":[18],"long-term":[19],"position":[20,119],"and":[21,36,72,93,139],"velocity":[22],"estimation.":[23],"In":[24],"addition":[25],"conventional":[27,129],"sensors,":[28],"including":[29],"one":[30],"body":[31,71],"Inertial":[32],"Measurement":[33],"Unit":[34],"(IMU)":[35],"joint":[37],"encoders,":[38],"we":[39],"attach":[40],"an":[41,123],"additional":[42,81],"IMU":[43],"each":[45],"calf":[46],"link":[47],"of":[48,125],"the":[49,53,69,76,80,83],"robot":[50],"just":[51],"above":[52],"foot.":[54],"An":[55],"extended":[56],"Kalman":[57],"filter":[58,84],"is":[59,85,107],"used":[60],"fuse":[62],"data":[63],"from":[64],"all":[65],"sensors":[66],"estimate":[68],"robot's":[70],"foot":[73,90,95,101],"positions":[74],"in":[75,109,137],"world":[77],"frame.":[78],"Using":[79],"IMUs,":[82],"able":[86],"reliably":[88],"determine":[89],"contact":[91,102],"modes":[92],"detect":[94],"slips":[96],"without":[97],"tactile":[98],"or":[99],"pressure-based":[100],"sensors.":[103],"validated":[108],"various":[110],"hardware":[111,138],"experiments,":[112],"which":[113],"confirm":[114],"that":[115],"it":[116],"can":[117],"reduce":[118],"drift":[120],"by":[121],"nearly":[122],"order":[124],"magnitude":[126],"compared":[127],"approaches":[130],"only":[132],"very":[134],"modest":[135],"increase":[136],"computational":[140],"costs.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":19},{"year":2024,"cited_by_count":3}],"updated_date":"2026-02-25T08:12:03.925757","created_date":"2025-10-10T00:00:00"}
