{"id":"https://openalex.org/W4317383133","doi":"https://doi.org/10.1109/robio55434.2022.10011705","title":"Human-Aided Online Terrain Classification for Bipedal Robots Using Augmented Reality","display_name":"Human-Aided Online Terrain Classification for Bipedal Robots Using Augmented Reality","publication_year":2022,"publication_date":"2022-12-05","ids":{"openalex":"https://openalex.org/W4317383133","doi":"https://doi.org/10.1109/robio55434.2022.10011705"},"language":"en","primary_location":{"id":"doi:10.1109/robio55434.2022.10011705","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011705","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 International Conference on Robotics and Biomimetics (ROBIO)","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/A5055984342","display_name":"Zahraa Awad","orcid":null},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":true,"raw_author_name":"Zahraa Awad","raw_affiliation_strings":["American University of Beirut,Department of Electrical and Computer Engineering,Beirut,Lebanon,11\u20130236"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Department of Electrical and Computer Engineering,Beirut,Lebanon,11\u20130236","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089621589","display_name":"Celine Chibani","orcid":null},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Celine Chibani","raw_affiliation_strings":["American University of Beirut,Department of Electrical and Computer Engineering,Beirut,Lebanon,11\u20130236"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Department of Electrical and Computer Engineering,Beirut,Lebanon,11\u20130236","institution_ids":["https://openalex.org/I98635879"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002792850","display_name":"Noel Maalouf","orcid":"https://orcid.org/0000-0001-7536-4261"},"institutions":[{"id":"https://openalex.org/I56306041","display_name":"Lebanese American University","ror":"https://ror.org/00hqkan37","country_code":"LB","type":"education","lineage":["https://openalex.org/I56306041"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Noel Maalouf","raw_affiliation_strings":["Lebanese American University,Department of Electrical and Computer Engineering,Byblos,Lebanon","Department of Electrical and Computer Engineering, Lebanese American University, Byblos, Lebanon"],"affiliations":[{"raw_affiliation_string":"Lebanese American University,Department of Electrical and Computer Engineering,Byblos,Lebanon","institution_ids":["https://openalex.org/I56306041"]},{"raw_affiliation_string":"Department of Electrical and Computer Engineering, Lebanese American University, Byblos, Lebanon","institution_ids":["https://openalex.org/I56306041"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043814690","display_name":"Imad H. Elhajjl","orcid":null},"institutions":[{"id":"https://openalex.org/I98635879","display_name":"American University of Beirut","ror":"https://ror.org/04pznsd21","country_code":"LB","type":"education","lineage":["https://openalex.org/I98635879"]}],"countries":["LB"],"is_corresponding":false,"raw_author_name":"Imad H. Elhajjl","raw_affiliation_strings":["American University of Beirut,Department of Electrical and Computer Engineering,Beirut,Lebanon,11\u20130236"],"affiliations":[{"raw_affiliation_string":"American University of Beirut,Department of Electrical and Computer Engineering,Beirut,Lebanon,11\u20130236","institution_ids":["https://openalex.org/I98635879"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":4,"corresponding_author_ids":["https://openalex.org/A5055984342"],"corresponding_institution_ids":["https://openalex.org/I98635879"],"apc_list":null,"apc_paid":null,"fwci":0.6413,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.66898008,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":94,"max":96},"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"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/T10653","display_name":"Robot Manipulation and Learning","score":0.9955999851226807,"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/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9847000241279602,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.8687866926193237},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7774523496627808},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.7360309362411499},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.6838111877441406},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6696929335594177},{"id":"https://openalex.org/keywords/support-vector-machine","display_name":"Support vector machine","score":0.6087096929550171},{"id":"https://openalex.org/keywords/augmented-reality","display_name":"Augmented reality","score":0.5944064259529114},{"id":"https://openalex.org/keywords/classifier","display_name":"Classifier (UML)","score":0.5865258574485779},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5498138666152954},{"id":"https://openalex.org/keywords/inertial-measurement-unit","display_name":"Inertial measurement unit","score":0.4561859667301178}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.8687866926193237},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7774523496627808},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.7360309362411499},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6838111877441406},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6696929335594177},{"id":"https://openalex.org/C12267149","wikidata":"https://www.wikidata.org/wiki/Q282453","display_name":"Support vector machine","level":2,"score":0.6087096929550171},{"id":"https://openalex.org/C153715457","wikidata":"https://www.wikidata.org/wiki/Q254183","display_name":"Augmented reality","level":2,"score":0.5944064259529114},{"id":"https://openalex.org/C95623464","wikidata":"https://www.wikidata.org/wiki/Q1096149","display_name":"Classifier (UML)","level":2,"score":0.5865258574485779},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5498138666152954},{"id":"https://openalex.org/C79061980","wikidata":"https://www.wikidata.org/wiki/Q941680","display_name":"Inertial measurement unit","level":2,"score":0.4561859667301178},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/robio55434.2022.10011705","is_oa":false,"landing_page_url":"http://dx.doi.org/10.1109/robio55434.2022.10011705","pdf_url":null,"source":{"id":"https://openalex.org/S4363607789","display_name":"2022 IEEE International Conference on Robotics and Biomimetics (ROBIO)","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 International Conference on Robotics and Biomimetics (ROBIO)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":30,"referenced_works":["https://openalex.org/W194233768","https://openalex.org/W804510118","https://openalex.org/W1966489542","https://openalex.org/W1968480681","https://openalex.org/W1975867856","https://openalex.org/W1977753016","https://openalex.org/W1991071345","https://openalex.org/W2004887586","https://openalex.org/W2027854881","https://openalex.org/W2088694157","https://openalex.org/W2089697811","https://openalex.org/W2097234820","https://openalex.org/W2101807913","https://openalex.org/W2111839883","https://openalex.org/W2114128011","https://openalex.org/W2119492493","https://openalex.org/W2123831806","https://openalex.org/W2137509451","https://openalex.org/W2148014896","https://openalex.org/W2150364799","https://openalex.org/W2163062155","https://openalex.org/W2303829726","https://openalex.org/W2330273676","https://openalex.org/W2569327030","https://openalex.org/W2980654949","https://openalex.org/W2999773863","https://openalex.org/W3003324983","https://openalex.org/W3112917711","https://openalex.org/W6623100096","https://openalex.org/W6630204897"],"related_works":["https://openalex.org/W2745063183","https://openalex.org/W2172197285","https://openalex.org/W2991048842","https://openalex.org/W2750280393","https://openalex.org/W2355696739","https://openalex.org/W3158001554","https://openalex.org/W2771909920","https://openalex.org/W2957704286","https://openalex.org/W2028936041","https://openalex.org/W2179141964"],"abstract_inverted_index":{"This":[0,119],"paper":[1],"presents":[2],"an":[3,158],"online":[4,70,155],"training":[5],"system,":[6],"enhanced":[7],"with":[8,157],"augmented":[9],"reality,":[10],"for":[11],"improving":[12],"real-time":[13,20],"terrain":[14,21,61,76,103,115],"classification":[15,126],"by":[16,71],"humanoid":[17,41],"robots.":[18],"The":[19,139],"type":[22,62,77,104,116],"prediction":[23],"model":[24],"relies":[25],"on":[26],"data":[27,131],"acquired":[28],"from":[29],"four":[30],"different":[31],"sensors":[32],"(force,":[33],"position,":[34],"current,":[35],"and":[36,54,102,107,128],"inertial)":[37],"of":[38,47,84,160],"the":[39,45,60,66,74,82,85,99,109,114,121,125,130,135,144,149,153],"NAO":[40],"robot.":[42],"We":[43],"compare":[44],"performance":[46],"Stochastic":[48],"Gradient":[49],"Descent,":[50],"Passive":[51,145],"Aggressive":[52,146],"classifier,":[53],"Support":[55],"Vector":[56],"Machine":[57],"in":[58,134],"predicting":[59],"being":[63,78,105],"traversed.":[64],"Then,":[65],"models":[67],"are":[68],"trained":[69],"manually":[72],"inputting":[73],"correct":[75,113],"traversed":[79],"to":[80,97,112,123],"improve":[81,124],"accuracy":[83,159],"predictions":[86],"over":[87],"time.":[88],"An":[89],"Augmented":[90],"Reality":[91],"(AR)":[92],"user":[93,110,122],"interface":[94],"is":[95,148],"designed":[96],"display":[98],"robot":[100],"diagnostics":[101],"predicted":[106],"obtain":[108],"feedback":[111],"when":[117],"needed.":[118],"allows":[120],"results":[127,141],"enhance":[129],"collection":[132],"process":[133],"easiest":[136],"way":[137],"possible.":[138],"experimental":[140],"show":[142],"that":[143],"classifier":[147],"most":[150],"successful":[151],"among":[152],"three":[154],"classifiers":[156],"81.4%.":[161]},"counts_by_year":[{"year":2023,"cited_by_count":2}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}