{"id":"https://openalex.org/W4225244428","doi":"https://doi.org/10.1109/lra.2022.3150844","title":"STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor","display_name":"STEP: State Estimator for Legged Robots Using a Preintegrated Foot Velocity Factor","publication_year":2022,"publication_date":"2022-02-14","ids":{"openalex":"https://openalex.org/W4225244428","doi":"https://doi.org/10.1109/lra.2022.3150844"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2022.3150844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150844","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-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/A5101943015","display_name":"Yeeun Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Yeeun Kim","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology(KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5349-0520","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology(KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011002249","display_name":"Byeongho Yu","orcid":"https://orcid.org/0000-0002-9900-2166"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Byeongho Yu","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology(KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-9900-2166","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology(KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5033233478","display_name":"Eungchang Mason Lee","orcid":"https://orcid.org/0000-0003-0219-784X"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Eungchang Mason Lee","raw_affiliation_strings":["School of Electrical Engineering, Korea Advanced Institute of Science and Technology(KAIST), Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-0219-784X","affiliations":[{"raw_affiliation_string":"School of Electrical Engineering, Korea Advanced Institute of Science and Technology(KAIST), Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5056430935","display_name":"Joon-Ha Kim","orcid":"https://orcid.org/0000-0003-4928-9696"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Joon-ha Kim","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-4928-9696","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5090151532","display_name":"Hae-Won Park","orcid":"https://orcid.org/0000-0001-6130-6589"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hae-won Park","raw_affiliation_strings":["Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0001-6130-6589","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5059521863","display_name":"Hyun Myung","orcid":"https://orcid.org/0000-0002-5799-2026"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hyun Myung","raw_affiliation_strings":["Department of Electrical Engineering and KI-AI, KAIST, Daejeon, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-5799-2026","affiliations":[{"raw_affiliation_string":"Department of Electrical Engineering and KI-AI, KAIST, Daejeon, Republic of Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5101943015"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":3.2702,"has_fulltext":false,"cited_by_count":41,"citation_normalized_percentile":{"value":0.92686091,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":94,"max":100},"biblio":{"volume":"7","issue":"2","first_page":"4456","last_page":"4463"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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":0.9998000264167786,"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/T11228","display_name":"Bat Biology and Ecology Studies","score":0.972100019454956,"subfield":{"id":"https://openalex.org/subfields/1105","display_name":"Ecology, Evolution, Behavior and Systematics"},"field":{"id":"https://openalex.org/fields/11","display_name":"Agricultural and Biological Sciences"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T12740","display_name":"Gait Recognition and Analysis","score":0.9598000049591064,"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/estimator","display_name":"Estimator","score":0.7117258310317993},{"id":"https://openalex.org/keywords/state-estimator","display_name":"State estimator","score":0.6981921792030334},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6111007332801819},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.5839737057685852},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.5747914910316467},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5008792877197266},{"id":"https://openalex.org/keywords/angular-velocity","display_name":"Angular velocity","score":0.4350849390029907},{"id":"https://openalex.org/keywords/robot-end-effector","display_name":"Robot end effector","score":0.4315029978752136},{"id":"https://openalex.org/keywords/factor","display_name":"Factor (programming language)","score":0.4293244481086731},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42286187410354614},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.39725157618522644},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.3879147171974182},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.3455742299556732},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2639800012111664},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1857215166091919},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.13848146796226501},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.1312723457813263},{"id":"https://openalex.org/keywords/classical-mechanics","display_name":"Classical mechanics","score":0.1107487678527832},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08853733539581299},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.08461359143257141}],"concepts":[{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.7117258310317993},{"id":"https://openalex.org/C2984536560","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State estimator","level":3,"score":0.6981921792030334},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6111007332801819},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.5839737057685852},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.5747914910316467},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5008792877197266},{"id":"https://openalex.org/C5594486","wikidata":"https://www.wikidata.org/wiki/Q161635","display_name":"Angular velocity","level":2,"score":0.4350849390029907},{"id":"https://openalex.org/C8652668","wikidata":"https://www.wikidata.org/wiki/Q1340324","display_name":"Robot end effector","level":3,"score":0.4315029978752136},{"id":"https://openalex.org/C2781039887","wikidata":"https://www.wikidata.org/wiki/Q1391724","display_name":"Factor (programming language)","level":2,"score":0.4293244481086731},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42286187410354614},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.39725157618522644},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.3879147171974182},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.3455742299556732},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2639800012111664},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1857215166091919},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.13848146796226501},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.1312723457813263},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.1107487678527832},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08853733539581299},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.08461359143257141},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2022.3150844","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2022.3150844","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/11","score":0.41999998688697815,"display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":34,"referenced_works":["https://openalex.org/W2033819227","https://openalex.org/W2073288601","https://openalex.org/W2155653863","https://openalex.org/W2236623899","https://openalex.org/W2279625569","https://openalex.org/W2482726005","https://openalex.org/W2495681058","https://openalex.org/W2532294591","https://openalex.org/W2577008596","https://openalex.org/W2794127568","https://openalex.org/W2909063396","https://openalex.org/W2940914777","https://openalex.org/W2963465704","https://openalex.org/W2964168254","https://openalex.org/W2968213087","https://openalex.org/W2981924303","https://openalex.org/W3000625188","https://openalex.org/W3033353027","https://openalex.org/W3105048402","https://openalex.org/W3105214950","https://openalex.org/W3105311021","https://openalex.org/W3125449081","https://openalex.org/W3178901079","https://openalex.org/W3185776277","https://openalex.org/W3205724045","https://openalex.org/W4205293427","https://openalex.org/W4241015692","https://openalex.org/W4243055393","https://openalex.org/W4249736682","https://openalex.org/W4250058668","https://openalex.org/W4286849848","https://openalex.org/W6695250641","https://openalex.org/W6758162286","https://openalex.org/W6804512747"],"related_works":["https://openalex.org/W1992962589","https://openalex.org/W3032871857","https://openalex.org/W1743191351","https://openalex.org/W3104633800","https://openalex.org/W3023567978","https://openalex.org/W2069184433","https://openalex.org/W3044778482","https://openalex.org/W3119092784","https://openalex.org/W4287393558","https://openalex.org/W3120076697"],"abstract_inverted_index":{"Wepropose":[0],"a":[1,11,44,70],"novel":[2,12],"state":[3],"estimator":[4],"for":[5,69],"legged":[6],"robots,":[7],"<i>STEP</i>,":[8],"achieved":[9],"through":[10],"preintegrated":[13,19,51],"foot":[14,20],"velocity":[15,21,34],"factor.":[16],"In":[17,47],"the":[18,23,31,39,50,67,75],"factor,":[22],"usual":[24],"non-slip":[25],"assumption":[26],"is":[27,63],"not":[28],"adopted.":[29],"Instead,":[30],"end":[32,52],"effector":[33],"becomes":[35],"observable":[36],"by":[37],"exploiting":[38],"body":[40],"speed":[41],"obtained":[42],"from":[43],"stereo":[45],"camera.":[46],"other":[48],"words,":[49],"effector&#x2019;s":[53],"pose":[54],"can":[55],"be":[56],"estimated.":[57],"Another":[58],"advantage":[59],"of":[60],"our":[61],"approach":[62],"that":[64],"it":[65],"eliminates":[66],"necessity":[68],"contact":[71],"detection":[72],"step,":[73],"unlike":[74],"typical":[76],"approaches.":[77],"The":[78],"proposed":[79],"method":[80],"has":[81],"also":[82],"been":[83],"validated":[84],"in":[85],"harsh-environment":[86],"simulations":[87],"and":[88],"real-world":[89],"experiments":[90],"containing":[91],"uneven":[92],"or":[93],"slippery":[94],"terrains.":[95]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":11},{"year":2024,"cited_by_count":15},{"year":2023,"cited_by_count":12},{"year":2022,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}