{"id":"https://openalex.org/W4413392629","doi":"https://doi.org/10.23919/acc63710.2025.11107835","title":"Two-Stage Proprioceptive State Estimation with Stability Guarantee for Legged Robots","display_name":"Two-Stage Proprioceptive State Estimation with Stability Guarantee for Legged Robots","publication_year":2025,"publication_date":"2025-07-08","ids":{"openalex":"https://openalex.org/W4413392629","doi":"https://doi.org/10.23919/acc63710.2025.11107835"},"language":"en","primary_location":{"id":"doi:10.23919/acc63710.2025.11107835","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","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/A5027642792","display_name":"Jun Li","orcid":"https://orcid.org/0000-0003-2392-8322"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":true,"raw_author_name":"Jun Li","raw_affiliation_strings":["Special Vehicle Institute, Harbin Institute of Technology,Weihai,China,264209"],"affiliations":[{"raw_affiliation_string":"Special Vehicle Institute, Harbin Institute of Technology,Weihai,China,264209","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5089724446","display_name":"Yuhui Wan","orcid":"https://orcid.org/0000-0002-5797-0142"},"institutions":[{"id":"https://openalex.org/I130828816","display_name":"University of Leeds","ror":"https://ror.org/024mrxd33","country_code":"GB","type":"education","lineage":["https://openalex.org/I130828816"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Yuhui Wan","raw_affiliation_strings":["University of Leeds,School of Mechanical Engineering,Leeds,United Kingdom,LS2 9JT"],"affiliations":[{"raw_affiliation_string":"University of Leeds,School of Mechanical Engineering,Leeds,United Kingdom,LS2 9JT","institution_ids":["https://openalex.org/I130828816"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5100400676","display_name":"Weihua Li","orcid":"https://orcid.org/0000-0002-9745-4150"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Weihua Li","raw_affiliation_strings":["Special Vehicle Institute, Harbin Institute of Technology,Weihai,China,264209"],"affiliations":[{"raw_affiliation_string":"Special Vehicle Institute, Harbin Institute of Technology,Weihai,China,264209","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5078046560","display_name":"Jianfeng Wang","orcid":"https://orcid.org/0000-0002-6392-218X"},"institutions":[{"id":"https://openalex.org/I204983213","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08","country_code":"CN","type":"education","lineage":["https://openalex.org/I204983213"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Jianfeng Wang","raw_affiliation_strings":["Special Vehicle Institute, Harbin Institute of Technology,Weihai,China,264209"],"affiliations":[{"raw_affiliation_string":"Special Vehicle Institute, Harbin Institute of Technology,Weihai,China,264209","institution_ids":["https://openalex.org/I204983213"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5026845307","display_name":"Chengxu Zhou","orcid":"https://orcid.org/0000-0002-6677-0855"},"institutions":[{"id":"https://openalex.org/I45129253","display_name":"University College London","ror":"https://ror.org/02jx3x895","country_code":"GB","type":"education","lineage":["https://openalex.org/I124357947","https://openalex.org/I45129253"]}],"countries":["GB"],"is_corresponding":false,"raw_author_name":"Chengxu Zhou","raw_affiliation_strings":["University College London,Department of Computer Science,London,United Kingdom,WC1E 6EA"],"affiliations":[{"raw_affiliation_string":"University College London,Department of Computer Science,London,United Kingdom,WC1E 6EA","institution_ids":["https://openalex.org/I45129253"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5027642792"],"corresponding_institution_ids":["https://openalex.org/I204983213"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.20114335,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3706","last_page":"3711"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9984999895095825,"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":0.9984999895095825,"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/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.9724000096321106,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12772","display_name":"Control and Stability of Dynamical Systems","score":0.9635000228881836,"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/stage","display_name":"Stage (stratigraphy)","score":0.6982569098472595},{"id":"https://openalex.org/keywords/stability","display_name":"Stability (learning theory)","score":0.6542014479637146},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.637335479259491},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5922574400901794},{"id":"https://openalex.org/keywords/estimation","display_name":"Estimation","score":0.5602819919586182},{"id":"https://openalex.org/keywords/state","display_name":"State (computer science)","score":0.5350459814071655},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5116541981697083},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.28382113575935364},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.16088908910751343},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.13432416319847107},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.12407457828521729},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.11883261799812317},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.08830136060714722}],"concepts":[{"id":"https://openalex.org/C146357865","wikidata":"https://www.wikidata.org/wiki/Q1123245","display_name":"Stage (stratigraphy)","level":2,"score":0.6982569098472595},{"id":"https://openalex.org/C112972136","wikidata":"https://www.wikidata.org/wiki/Q7595718","display_name":"Stability (learning theory)","level":2,"score":0.6542014479637146},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.637335479259491},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5922574400901794},{"id":"https://openalex.org/C96250715","wikidata":"https://www.wikidata.org/wiki/Q965330","display_name":"Estimation","level":2,"score":0.5602819919586182},{"id":"https://openalex.org/C48103436","wikidata":"https://www.wikidata.org/wiki/Q599031","display_name":"State (computer science)","level":2,"score":0.5350459814071655},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5116541981697083},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.28382113575935364},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.16088908910751343},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.13432416319847107},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.12407457828521729},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.11883261799812317},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.08830136060714722},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C151730666","wikidata":"https://www.wikidata.org/wiki/Q7205","display_name":"Paleontology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.23919/acc63710.2025.11107835","is_oa":false,"landing_page_url":"https://doi.org/10.23919/acc63710.2025.11107835","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 American Control Conference (ACC)","raw_type":"proceedings-article"},{"id":"pmh:oai:eprints.ucl.ac.uk.OAI2:10216087","is_oa":false,"landing_page_url":"https://discovery.ucl.ac.uk/id/eprint/10216087/","pdf_url":null,"source":{"id":"https://openalex.org/S4306400024","display_name":"UCL Discovery (University College London)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I45129253","host_organization_name":"University College London","host_organization_lineage":["https://openalex.org/I45129253"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"In:  2025 American Control Conference (ACC).  (pp. pp. 3706-3711).  IEEE: Denver, CO, USA. (2025)","raw_type":"Proceedings paper"}],"best_oa_location":null,"sustainable_development_goals":[{"score":0.46000000834465027,"id":"https://metadata.un.org/sdg/2","display_name":"Zero hunger"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320320006","display_name":"Royal Society","ror":"https://ror.org/03wnrjx87"},{"id":"https://openalex.org/F4320321001","display_name":"National Natural Science Foundation of China","ror":"https://ror.org/01h0zpd94"},{"id":"https://openalex.org/F4320321940","display_name":"Harbin Institute of Technology","ror":"https://ror.org/01yqg2h08"},{"id":"https://openalex.org/F4320324174","display_name":"Natural Science Foundation of Shandong Province","ror":null}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1943808550","https://openalex.org/W2125691646","https://openalex.org/W2615146116","https://openalex.org/W2794127568","https://openalex.org/W2804892083","https://openalex.org/W2909553221","https://openalex.org/W2940914777","https://openalex.org/W2964168254","https://openalex.org/W2981924303","https://openalex.org/W3033353027","https://openalex.org/W3132160159","https://openalex.org/W3178901079","https://openalex.org/W3205724045","https://openalex.org/W3207335050","https://openalex.org/W4206499684","https://openalex.org/W4225244428","https://openalex.org/W4237726214","https://openalex.org/W4319985222","https://openalex.org/W4388096643","https://openalex.org/W4389667575","https://openalex.org/W4401414084"],"related_works":["https://openalex.org/W2329386257","https://openalex.org/W2503350049","https://openalex.org/W2397616145","https://openalex.org/W2397320258","https://openalex.org/W4412054803","https://openalex.org/W4324058133","https://openalex.org/W4412277885","https://openalex.org/W648618910","https://openalex.org/W4393624937","https://openalex.org/W2576994247"],"abstract_inverted_index":{"To":[0,26],"achieve":[1],"dynamic":[2,109],"legged":[3],"locomotion,":[4],"real-time":[5],"acquisition":[6],"of":[7,86],"the":[8,41,50,84],"robot":[9],"floating":[10,42],"base":[11,56,60],"state":[12,18,31,52,95],"is":[13,37,80],"critical.":[14],"However,":[15],"current":[16],"full-coupled":[17],"estimation":[19,53,58],"solutions":[20],"may":[21],"suffer":[22],"from":[23],"convergence":[24],"issues.":[25],"address":[27],"this,":[28],"a":[29,67,76,104],"two-stage":[30,68],"estimator":[32,96],"that":[33],"uses":[34],"proprioceptive":[35],"sensors":[36],"proposed":[38,94],"to":[39,82],"estimate":[40],"base\u2019s":[43],"velocity":[44,61],"and":[45,59,62,101,115],"pose.":[46],"The":[47,93],"approach":[48],"decomposes":[49],"floating-base":[51],"problem":[54],"into":[55],"orientation":[57],"position":[63],"estimation,":[64],"resulting":[65],"in":[66],"multi-sensor":[69],"fusion":[70],"algorithm":[71],"with":[72],"stability":[73],"guarantees.":[74],"Additionally,":[75],"covariance":[77],"inflation":[78],"method":[79],"introduced":[81],"consider":[83],"influences":[85],"contact":[87],"switching":[88],"by":[89],"adjusting":[90],"noise":[91],"covariances.":[92],"has":[97],"been":[98],"successfully":[99],"implemented":[100],"verified":[102],"on":[103],"real":[105],"quadrupedal":[106],"robot,":[107],"supporting":[108],"motions":[110],"such":[111],"as":[112],"multi-gaited":[113],"locomotion":[114],"push":[116],"recovery.":[117]},"counts_by_year":[],"updated_date":"2026-04-05T17:49:38.594831","created_date":"2025-10-10T00:00:00"}