{"id":"https://openalex.org/W2943537786","doi":"https://doi.org/10.1109/sii.2019.8700398","title":"Effects of Walking Style and Symmetry on the Performance of Localization Algorithms for a Biped Humanoid Robot","display_name":"Effects of Walking Style and Symmetry on the Performance of Localization Algorithms for a Biped Humanoid Robot","publication_year":2019,"publication_date":"2019-01-01","ids":{"openalex":"https://openalex.org/W2943537786","doi":"https://doi.org/10.1109/sii.2019.8700398","mag":"2943537786"},"language":"en","primary_location":{"id":"doi:10.1109/sii.2019.8700398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","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/A5091441788","display_name":"Yukitoshi Minami Shiguematsu","orcid":"https://orcid.org/0000-0001-5097-3036"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":true,"raw_author_name":"Yukitoshi Minami Shiguematsu","raw_affiliation_strings":["Graduate School of Science and Engineering, Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Graduate School of Science and Engineering, Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5088379096","display_name":"Martim Brand\u00e3o","orcid":"https://orcid.org/0000-0002-2003-0675"},"institutions":[{"id":"https://openalex.org/I40120149","display_name":"University of Oxford","ror":"https://ror.org/052gg0110","country_code":"GB","type":"education","lineage":["https://openalex.org/I40120149"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Martim Brandao","raw_affiliation_strings":["Oxford Robotics Institute, University of Oxford, UK"],"affiliations":[{"raw_affiliation_string":"Oxford Robotics Institute, University of Oxford, UK","institution_ids":["https://openalex.org/I40120149"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5075328170","display_name":"Atsuo Takanishi","orcid":"https://orcid.org/0009-0009-9388-9278"},"institutions":[{"id":"https://openalex.org/I150744194","display_name":"Waseda University","ror":"https://ror.org/00ntfnx83","country_code":"JP","type":"education","lineage":["https://openalex.org/I150744194"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Atsuo Takanishi","raw_affiliation_strings":["Department of Modern Mechanical Engineering and Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan"],"affiliations":[{"raw_affiliation_string":"Department of Modern Mechanical Engineering and Humanoid Robotics Institute (HRI), Waseda University, Tokyo, Japan","institution_ids":["https://openalex.org/I150744194"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":["https://openalex.org/A5091441788"],"corresponding_institution_ids":["https://openalex.org/I150744194"],"apc_list":null,"apc_paid":null,"fwci":0.7934,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":{"value":0.79103925,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":94},"biblio":{"volume":"4","issue":null,"first_page":"307","last_page":"312"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9990000128746033,"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/T12740","display_name":"Gait Recognition and Analysis","score":0.9958000183105469,"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/odometry","display_name":"Odometry","score":0.8180525302886963},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.7489582896232605},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.6726473569869995},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5938597917556763},{"id":"https://openalex.org/keywords/humanoid-robot","display_name":"Humanoid robot","score":0.5751345753669739},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5615428686141968},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5486555695533752},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5247091054916382},{"id":"https://openalex.org/keywords/visual-odometry","display_name":"Visual odometry","score":0.49386149644851685},{"id":"https://openalex.org/keywords/robot-kinematics","display_name":"Robot kinematics","score":0.490474671125412},{"id":"https://openalex.org/keywords/ground-reaction-force","display_name":"Ground reaction force","score":0.47956007719039917},{"id":"https://openalex.org/keywords/symmetry","display_name":"Symmetry (geometry)","score":0.43707507848739624},{"id":"https://openalex.org/keywords/gait-analysis","display_name":"Gait analysis","score":0.4362793564796448},{"id":"https://openalex.org/keywords/focus","display_name":"Focus (optics)","score":0.42532408237457275},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.38158026337623596},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.21985691785812378},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.21776461601257324},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.12791427969932556},{"id":"https://openalex.org/keywords/physical-medicine-and-rehabilitation","display_name":"Physical medicine and rehabilitation","score":0.1040574312210083},{"id":"https://openalex.org/keywords/geometry","display_name":"Geometry","score":0.08856898546218872}],"concepts":[{"id":"https://openalex.org/C49441653","wikidata":"https://www.wikidata.org/wiki/Q2014717","display_name":"Odometry","level":4,"score":0.8180525302886963},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.7489582896232605},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.6726473569869995},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5938597917556763},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.5751345753669739},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5615428686141968},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5486555695533752},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5247091054916382},{"id":"https://openalex.org/C5799516","wikidata":"https://www.wikidata.org/wiki/Q4110915","display_name":"Visual odometry","level":3,"score":0.49386149644851685},{"id":"https://openalex.org/C74222875","wikidata":"https://www.wikidata.org/wiki/Q16000312","display_name":"Robot kinematics","level":4,"score":0.490474671125412},{"id":"https://openalex.org/C96332660","wikidata":"https://www.wikidata.org/wiki/Q5610971","display_name":"Ground reaction force","level":3,"score":0.47956007719039917},{"id":"https://openalex.org/C2779886137","wikidata":"https://www.wikidata.org/wiki/Q21030012","display_name":"Symmetry (geometry)","level":2,"score":0.43707507848739624},{"id":"https://openalex.org/C173906292","wikidata":"https://www.wikidata.org/wiki/Q1493441","display_name":"Gait analysis","level":3,"score":0.4362793564796448},{"id":"https://openalex.org/C192209626","wikidata":"https://www.wikidata.org/wiki/Q190909","display_name":"Focus (optics)","level":2,"score":0.42532408237457275},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.38158026337623596},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.21985691785812378},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.21776461601257324},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.12791427969932556},{"id":"https://openalex.org/C99508421","wikidata":"https://www.wikidata.org/wiki/Q2678675","display_name":"Physical medicine and rehabilitation","level":1,"score":0.1040574312210083},{"id":"https://openalex.org/C2524010","wikidata":"https://www.wikidata.org/wiki/Q8087","display_name":"Geometry","level":1,"score":0.08856898546218872},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/sii.2019.8700398","is_oa":false,"landing_page_url":"https://doi.org/10.1109/sii.2019.8700398","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2019 IEEE/SICE International Symposium on System Integration (SII)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.699999988079071,"id":"https://metadata.un.org/sdg/11","display_name":"Sustainable cities and communities"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1612997784","https://openalex.org/W1979333836","https://openalex.org/W1980605044","https://openalex.org/W1985092254","https://openalex.org/W1987851525","https://openalex.org/W1993267444","https://openalex.org/W1999684857","https://openalex.org/W2005099894","https://openalex.org/W2021851106","https://openalex.org/W2052651408","https://openalex.org/W2057203307","https://openalex.org/W2061578829","https://openalex.org/W2064822683","https://openalex.org/W2102621601","https://openalex.org/W2105388244","https://openalex.org/W2124681518","https://openalex.org/W2149389008","https://openalex.org/W2154355760","https://openalex.org/W2163202423","https://openalex.org/W2204317320","https://openalex.org/W2296360731","https://openalex.org/W2377533721","https://openalex.org/W2564632156","https://openalex.org/W2586096220","https://openalex.org/W2774394625","https://openalex.org/W3103648783","https://openalex.org/W4241459016","https://openalex.org/W4394651791","https://openalex.org/W6708889036"],"related_works":["https://openalex.org/W2979950214","https://openalex.org/W87609089","https://openalex.org/W3024737167","https://openalex.org/W2414561716","https://openalex.org/W3161199934","https://openalex.org/W2303855011","https://openalex.org/W2312326526","https://openalex.org/W2412578866","https://openalex.org/W3105866016","https://openalex.org/W4312703710"],"abstract_inverted_index":{"Motivated":[0],"by":[1,130],"experiments":[2],"showing":[3],"that":[4,150],"humans'":[5],"localization":[6,163],"performance":[7,44,68,91,124,161],"changes":[8,116],"with":[9],"walking":[10,20,29,59],"parameters,":[11],"in":[12,79,165],"this":[13],"paper":[14],"we":[15,41],"explore":[16],"the":[17,43,54,58,67,70,82,85,90,93,123,126,131,160,166],"effects":[18],"of":[19,45,69,92,101,109,117,125,133,162],"gait":[21,35,86,118,151],"on":[22,28,81],"biped":[23],"humanoid":[24],"localization.":[25,56],"We":[26],"focus":[27],"style":[30,60,119],"(normal":[31],"and":[32,34,40,49,112,120,152],"gallop)":[33],"symmetry":[36,88,121],"(one":[37],"side":[38],"slower),":[39],"assess":[42],"visual":[46,71,94],"odometry":[47,51,141],"(VO)":[48],"kinematic":[50,127,140],"algorithms":[52,164],"for":[53],"robot's":[55],"Changing":[57,84],"from":[61],"normal":[62],"to":[63,76,98,106,138,158],"gallop":[64],"slightly":[65],"improved":[66],"localization,":[72,128],"which":[73,96,139],"was":[74],"related":[75,105],"a":[77],"reduction":[78],"torques":[80],"feet.":[83],"temporal":[87],"worsened":[89],"algorithms,":[95],"according":[97],"an":[99,107],"analysis":[100],"inertial":[102],"data,":[103],"is":[104,142],"increase":[108,132],"mechanical":[110],"vibrations":[111],"camera":[113],"rotations.":[114],"Both":[115],"decreased":[122],"caused":[129],"vertical":[134],"ground":[135],"reaction":[136],"forces,":[137],"very":[143],"sensitive.":[144],"These":[145],"observations":[146],"support":[147],"our":[148],"claim":[149],"footstep":[153],"planning":[154],"could":[155],"be":[156],"used":[157],"improve":[159],"future.":[167]},"counts_by_year":[{"year":2022,"cited_by_count":1},{"year":2021,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}