{"id":"https://openalex.org/W4320479365","doi":"https://doi.org/10.1109/lra.2023.3240369","title":"Tunable Impact and Vibration Absorbing Neck for Robust Visual-Inertial State Estimation for Dynamic Legged Robots","display_name":"Tunable Impact and Vibration Absorbing Neck for Robust Visual-Inertial State Estimation for Dynamic Legged Robots","publication_year":2023,"publication_date":"2023-01-27","ids":{"openalex":"https://openalex.org/W4320479365","doi":"https://doi.org/10.1109/lra.2023.3240369"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2023.3240369","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3240369","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10027207.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","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":true,"oa_status":"hybrid","oa_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10027207.pdf","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5002185855","display_name":"Taekyun Kim","orcid":"https://orcid.org/0000-0002-0591-654X"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Taekyun Kim","raw_affiliation_strings":["Department of Mechanical Engineering, IAMD and IER, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0002-0591-654X","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IER, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101912751","display_name":"Sangbae Kim","orcid":null},"institutions":[{"id":"https://openalex.org/I63966007","display_name":"Massachusetts Institute of Technology","ror":"https://ror.org/042nb2s44","country_code":"US","type":"education","lineage":["https://openalex.org/I63966007"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Sangbae Kim","raw_affiliation_strings":["Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, Massachusetts Institute of Technology, Cambridge, MA, USA","institution_ids":["https://openalex.org/I63966007"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5100626026","display_name":"Dongjun Lee","orcid":"https://orcid.org/0000-0003-2108-3960"},"institutions":[{"id":"https://openalex.org/I139264467","display_name":"Seoul National University","ror":"https://ror.org/04h9pn542","country_code":"KR","type":"education","lineage":["https://openalex.org/I139264467"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongjun Lee","raw_affiliation_strings":["Department of Mechanical Engineering, IAMD and IER, Seoul National University, Seoul, Republic of Korea"],"raw_orcid":"https://orcid.org/0000-0003-2108-3960","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, IAMD and IER, Seoul National University, Seoul, Republic of Korea","institution_ids":["https://openalex.org/I139264467"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":2,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":0.5832,"has_fulltext":true,"cited_by_count":6,"citation_normalized_percentile":{"value":0.6047021,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":97},"biblio":{"volume":"8","issue":"3","first_page":"1431","last_page":"1438"},"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.9961000084877014,"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/T10868","display_name":"Soft Robotics and Applications","score":0.9754999876022339,"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/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.6930125951766968},{"id":"https://openalex.org/keywords/robustness","display_name":"Robustness (evolution)","score":0.6486093401908875},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6367248892784119},{"id":"https://openalex.org/keywords/damper","display_name":"Damper","score":0.6176896691322327},{"id":"https://openalex.org/keywords/inertial-frame-of-reference","display_name":"Inertial frame of reference","score":0.6026787757873535},{"id":"https://openalex.org/keywords/vibration","display_name":"Vibration","score":0.5949351191520691},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5792051553726196},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5442829132080078},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4801625609397888},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.42555463314056396},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.3644751012325287},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.33598992228507996},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.32999134063720703},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.16854557394981384},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.10458818078041077}],"concepts":[{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.6930125951766968},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.6486093401908875},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6367248892784119},{"id":"https://openalex.org/C140096630","wikidata":"https://www.wikidata.org/wiki/Q3423628","display_name":"Damper","level":2,"score":0.6176896691322327},{"id":"https://openalex.org/C173386949","wikidata":"https://www.wikidata.org/wiki/Q192735","display_name":"Inertial frame of reference","level":2,"score":0.6026787757873535},{"id":"https://openalex.org/C198394728","wikidata":"https://www.wikidata.org/wiki/Q3695508","display_name":"Vibration","level":2,"score":0.5949351191520691},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5792051553726196},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5442829132080078},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4801625609397888},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.42555463314056396},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3644751012325287},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.33598992228507996},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.32999134063720703},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.16854557394981384},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.10458818078041077},{"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/C55493867","wikidata":"https://www.wikidata.org/wiki/Q7094","display_name":"Biochemistry","level":1,"score":0.0},{"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/C185592680","wikidata":"https://www.wikidata.org/wiki/Q2329","display_name":"Chemistry","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0},{"id":"https://openalex.org/C104317684","wikidata":"https://www.wikidata.org/wiki/Q7187","display_name":"Gene","level":2,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2023.3240369","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3240369","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10027207.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:dspace.mit.edu:1721.1/153603","is_oa":true,"landing_page_url":"https://hdl.handle.net/1721.1/153603","pdf_url":"https://dspace.mit.edu/bitstream/1721.1/153603/2/Tunable_Impact_and_Vibration_Absorbing_Neck_for_Robust_Visual-Inertial_State_Estimation_for_Dynamic_Legged_Robots.pdf","source":{"id":"https://openalex.org/S4306400425","display_name":"DSpace@MIT (Massachusetts Institute of Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I63966007","host_organization_name":"Massachusetts Institute of Technology","host_organization_lineage":["https://openalex.org/I63966007"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-sa","license_id":"https://openalex.org/licenses/cc-by-nc-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"Institute of Electrical and Electronics Engineers","raw_type":"Article"}],"best_oa_location":{"id":"doi:10.1109/lra.2023.3240369","is_oa":true,"landing_page_url":"https://doi.org/10.1109/lra.2023.3240369","pdf_url":"https://ieeexplore.ieee.org/ielx7/7083369/10024862/10027207.pdf","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G7304465157","display_name":null,"funder_award_id":"P0020536","funder_id":"https://openalex.org/F4320321681","funder_display_name":"Ministry of Trade, Industry and Energy"},{"id":"https://openalex.org/G8132207299","display_name":null,"funder_award_id":"P0020536","funder_id":"https://openalex.org/F4320322064","funder_display_name":"Korea Institute for Advancement of Technology"}],"funders":[{"id":"https://openalex.org/F4320320671","display_name":"National Research Foundation","ror":"https://ror.org/05s0g1g46"},{"id":"https://openalex.org/F4320321681","display_name":"Ministry of Trade, Industry and Energy","ror":"https://ror.org/008nkqk13"},{"id":"https://openalex.org/F4320322064","display_name":"Korea Institute for Advancement of Technology","ror":"https://ror.org/015w1qa96"},{"id":"https://openalex.org/F4320328359","display_name":"Ministry of Science and ICT, South Korea","ror":"https://ror.org/01wpjm123"},{"id":"https://openalex.org/F4320334024","display_name":"Biomimetic Robotics Lab, Massachusetts Institute of Technology","ror":null}],"has_content":{"grobid_xml":true,"pdf":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4320479365.pdf","grobid_xml":"https://content.openalex.org/works/W4320479365.grobid-xml"},"referenced_works_count":29,"referenced_works":["https://openalex.org/W1981225035","https://openalex.org/W2111253117","https://openalex.org/W2122827816","https://openalex.org/W2167500102","https://openalex.org/W2511752147","https://openalex.org/W2515074986","https://openalex.org/W2560533888","https://openalex.org/W2596773120","https://openalex.org/W2745859992","https://openalex.org/W2763764255","https://openalex.org/W2794127568","https://openalex.org/W2801693532","https://openalex.org/W2889693550","https://openalex.org/W2909157769","https://openalex.org/W2940914777","https://openalex.org/W2968031102","https://openalex.org/W2968213087","https://openalex.org/W2972810470","https://openalex.org/W2999252548","https://openalex.org/W3000625188","https://openalex.org/W3105048402","https://openalex.org/W3105214950","https://openalex.org/W3178901079","https://openalex.org/W3185776277","https://openalex.org/W3204090911","https://openalex.org/W4225244428","https://openalex.org/W4241459016","https://openalex.org/W4285102143","https://openalex.org/W6767349745"],"related_works":["https://openalex.org/W2091018038","https://openalex.org/W2225378543","https://openalex.org/W4287122200","https://openalex.org/W9839718","https://openalex.org/W3110613631","https://openalex.org/W2040913503","https://openalex.org/W3166845860","https://openalex.org/W2744870258","https://openalex.org/W3082879976","https://openalex.org/W2382856674"],"abstract_inverted_index":{"We":[0,168],"propose":[1],"a":[2,29,52,89,111,124,144,150,170],"new":[3],"neck":[4,91,104,175,201],"design":[5],"for":[6,61,116],"legged":[7,41],"robots":[8,42],"to":[9,159,163,180,194],"achieve":[10],"robust":[11],"visual-inertial":[12,19],"state":[13,20],"estimation":[14,21,205],"in":[15,25],"dynamic":[16,151],"locomotion.":[17],"While":[18],"is":[22],"widely":[23],"used":[24],"robotics,":[26],"it":[27],"has":[28],"problem":[30],"of":[31,47,107,119,138,173,185,198],"being":[32],"disturbed":[33],"by":[34],"the":[35,57,95,117,120,132,135,174,182,186,196,199],"impacts":[36,96,133],"and":[37,97,126,134,148,177,189,207],"vibration":[38,98,142,152],"generated":[39],"when":[40],"move":[43],"dynamically.":[44],"The":[45],"use":[46],"rubber":[48],"dampers":[49,58],"may":[50,65],"be":[51,66,157],"solution,":[53],"but":[54],"even":[55],"if":[56],"are":[59,80,192],"proper":[60],"some":[62],"gaits,":[63],"they":[64,79],"excessively":[67],"deformed":[68],"or":[69],"resonated":[70],"at":[71],"certain":[72],"frequencies":[73,140,162],"during":[74,99],"other":[75],"gait":[76,101,161],"locomotion":[77],"since":[78],"not":[81],"tunable.":[82],"To":[83],"address":[84],"this":[85],"problem,":[86],"we":[87],"develop":[88],"tunable":[90],"system":[92,105,176],"that":[93,114,155],"absorbs":[94,131],"diverse":[100,160,210],"locomotions.":[102],"This":[103],"consists":[106],"two":[108],"components:":[109],"1)":[110],"suspension":[112],"mechanism":[113],"compensates":[115],"weight":[118],"head":[121,136,166],"equipped":[122],"with":[123],"camera":[125],"IMU":[127],"(inertial":[128],"measurement":[129],"unit),":[130],"motion":[137],"high":[139],"including":[141],"as":[143],"fixed":[145],"low-pass":[146],"filter;":[147],"2)":[149],"absorber":[153],"(DVA)":[154],"can":[156],"reactively-adjusted":[158],"alleviate":[164],"excessive":[165],"movements.":[167],"present":[169],"dynamics":[171],"analysis":[172],"show":[178],"how":[179],"adjust":[181],"target":[183],"frequency":[184],"system.":[187],"Simulation":[188],"experimental":[190],"validation":[191],"performed":[193],"verify":[195],"effect":[197],"proposed":[200],"design,":[202],"manifesting":[203],"superior":[204],"performance":[206],"robustness":[208],"across":[209],"gaits.":[211]},"counts_by_year":[{"year":2025,"cited_by_count":3},{"year":2024,"cited_by_count":1},{"year":2023,"cited_by_count":2}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
