{"id":"https://openalex.org/W4416749385","doi":"https://doi.org/10.1109/iros60139.2025.11246753","title":"Adaptive Model-Based Control of Quadrupeds via Online System Identification using Kalman Filter","display_name":"Adaptive Model-Based Control of Quadrupeds via Online System Identification using Kalman Filter","publication_year":2025,"publication_date":"2025-10-19","ids":{"openalex":"https://openalex.org/W4416749385","doi":"https://doi.org/10.1109/iros60139.2025.11246753"},"language":null,"primary_location":{"id":"doi:10.1109/iros60139.2025.11246753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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/A5119967861","display_name":"Jonas Haack","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Jonas Haack","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5109885156","display_name":"Franek Stark","orcid":null},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Franek Stark","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069566632","display_name":"Shubham Vyas","orcid":"https://orcid.org/0000-0001-8773-8435"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shubham Vyas","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016436943","display_name":"Frank Kirchner","orcid":"https://orcid.org/0000-0002-1713-9784"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Frank Kirchner","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5036934435","display_name":"Shivesh Kumar","orcid":"https://orcid.org/0000-0002-6254-3882"},"institutions":[{"id":"https://openalex.org/I33256026","display_name":"German Research Centre for Artificial Intelligence","ror":"https://ror.org/01ayc5b57","country_code":"DE","type":"funder","lineage":["https://openalex.org/I33256026"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Shivesh Kumar","raw_affiliation_strings":["German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany"],"affiliations":[{"raw_affiliation_string":"German Research Center for Artificial Intelligence (DFKI GmbH),Robotics Innovation Center,Bremen,Germany","institution_ids":["https://openalex.org/I33256026"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5119967861"],"corresponding_institution_ids":["https://openalex.org/I33256026"],"apc_list":null,"apc_paid":null,"fwci":0.7389,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.77586229,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5039","last_page":"5044"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9532999992370605,"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":0.9532999992370605,"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/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.007300000172108412,"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/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.006000000052154064,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.7400000095367432},{"id":"https://openalex.org/keywords/kalman-filter","display_name":"Kalman filter","score":0.5849999785423279},{"id":"https://openalex.org/keywords/noise","display_name":"Noise (video)","score":0.5329999923706055},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.49410000443458557},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4553000032901764},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.42969998717308044},{"id":"https://openalex.org/keywords/filter","display_name":"Filter (signal processing)","score":0.4088999927043915},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.40369999408721924},{"id":"https://openalex.org/keywords/adaptive-control","display_name":"Adaptive control","score":0.4034000039100647}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.7400000095367432},{"id":"https://openalex.org/C157286648","wikidata":"https://www.wikidata.org/wiki/Q846780","display_name":"Kalman filter","level":2,"score":0.5849999785423279},{"id":"https://openalex.org/C99498987","wikidata":"https://www.wikidata.org/wiki/Q2210247","display_name":"Noise (video)","level":3,"score":0.5329999923706055},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5019999742507935},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.49410000443458557},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.4853000044822693},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4553000032901764},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.42969998717308044},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.4088999927043915},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.40369999408721924},{"id":"https://openalex.org/C107464732","wikidata":"https://www.wikidata.org/wiki/Q235781","display_name":"Adaptive control","level":3,"score":0.4034000039100647},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3862999975681305},{"id":"https://openalex.org/C206833254","wikidata":"https://www.wikidata.org/wiki/Q5421817","display_name":"Extended Kalman filter","level":3,"score":0.37439998984336853},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.3671000003814697},{"id":"https://openalex.org/C145249878","wikidata":"https://www.wikidata.org/wiki/Q2835868","display_name":"Recursive least squares filter","level":3,"score":0.36309999227523804},{"id":"https://openalex.org/C172205157","wikidata":"https://www.wikidata.org/wiki/Q1782962","display_name":"Model predictive control","level":3,"score":0.33629998564720154},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.33329999446868896},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.33309999108314514},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.32409998774528503},{"id":"https://openalex.org/C2777851325","wikidata":"https://www.wikidata.org/wiki/Q7094102","display_name":"Online model","level":2,"score":0.30979999899864197},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2962000072002411},{"id":"https://openalex.org/C167928553","wikidata":"https://www.wikidata.org/wiki/Q1376021","display_name":"Estimation theory","level":2,"score":0.28290000557899475},{"id":"https://openalex.org/C107645828","wikidata":"https://www.wikidata.org/wiki/Q12070446","display_name":"System model","level":2,"score":0.2786000072956085},{"id":"https://openalex.org/C182365436","wikidata":"https://www.wikidata.org/wiki/Q50701","display_name":"Variable (mathematics)","level":2,"score":0.27790001034736633},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.2745000123977661},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.251800000667572}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros60139.2025.11246753","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros60139.2025.11246753","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 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":28,"referenced_works":["https://openalex.org/W1508545910","https://openalex.org/W1959263969","https://openalex.org/W1998922549","https://openalex.org/W2009664131","https://openalex.org/W2013002270","https://openalex.org/W2038115217","https://openalex.org/W2072884192","https://openalex.org/W2083483041","https://openalex.org/W2214120270","https://openalex.org/W2736363424","https://openalex.org/W2746499955","https://openalex.org/W2906487027","https://openalex.org/W2908523403","https://openalex.org/W2964057140","https://openalex.org/W2973191244","https://openalex.org/W3110217318","https://openalex.org/W3112225975","https://openalex.org/W3196685263","https://openalex.org/W3211963501","https://openalex.org/W4206265662","https://openalex.org/W4285149596","https://openalex.org/W4380183591","https://openalex.org/W4393144910","https://openalex.org/W4401415680","https://openalex.org/W4403674486","https://openalex.org/W4405922637","https://openalex.org/W4406982999","https://openalex.org/W4413944780"],"related_works":[],"abstract_inverted_index":{"Many":[0],"real-world":[1],"applications":[2],"require":[3],"legged":[4],"robots":[5],"to":[6,9,46,92],"be":[7],"able":[8],"carry":[10],"variable":[11],"payloads.":[12],"Model-Based":[13],"controllers":[14],"such":[15],"as":[16],"model":[17,118],"predictive":[18],"control":[19,36],"(MPC)":[20],"have":[21],"become":[22],"the":[23,63,106,110,117],"de":[24],"facto":[25],"standard":[26],"in":[27],"research":[28],"for":[29,59],"controlling":[30],"these":[31],"systems.":[32],"However,":[33],"most":[34],"model-based":[35,111],"architectures":[37],"use":[38],"fixed":[39],"plant":[40],"models,":[41],"which":[42],"limits":[43],"their":[44],"applicability":[45],"different":[47],"tasks.":[48],"In":[49],"this":[50],"paper,":[51],"we":[52],"present":[53],"a":[54,71,79],"Kalman":[55],"filter":[56],"(KF)":[57],"formulation":[58],"online":[60],"identification":[61],"of":[62,67,70,109],"mass":[64,68],"and":[65,85],"center":[66],"(COM)":[69],"four-legged":[72],"robot.":[73],"We":[74],"evaluate":[75],"our":[76],"method":[77],"on":[78],"quadrupedal":[80],"robot":[81],"carrying":[82],"various":[83],"payloads":[84,115],"find":[86],"that":[87],"it":[88,104],"is":[89],"more":[90],"robust":[91],"strong":[93],"measurement":[94],"noise":[95],"than":[96],"classical":[97],"recursive":[98],"least":[99],"squares":[100],"(RLS)":[101],"methods.":[102],"Moreover,":[103],"improves":[105],"tracking":[107],"performance":[108],"controller":[112],"with":[113],"varying":[114],"when":[116],"parameters":[119],"are":[120],"adjusted":[121],"at":[122],"runtime.":[123]},"counts_by_year":[{"year":2026,"cited_by_count":1}],"updated_date":"2026-03-12T08:34:05.389933","created_date":"2025-11-28T00:00:00"}
