{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,13]],"date-time":"2026-05-13T15:06:12Z","timestamp":1778684772012,"version":"3.51.4"},"publisher-location":"Cham","reference-count":151,"publisher":"Springer International Publishing","isbn-type":[{"value":"9783319938691","type":"print"},{"value":"9783319938707","type":"electronic"}],"license":[{"start":{"date-parts":[[2018,8,2]],"date-time":"2018-08-02T00:00:00Z","timestamp":1533168000000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/www.springer.com\/tdm"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2019]]},"DOI":"10.1007\/978-3-319-93870-7_9","type":"book-chapter","created":{"date-parts":[[2018,8,1]],"date-time":"2018-08-01T15:08:51Z","timestamp":1533136131000},"page":"185-209","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":6,"title":["Review of Anthropomorphic Head Stabilisation and Verticality Estimation in Robots"],"prefix":"10.1007","author":[{"given":"Ildar","family":"Farkhatdinov","sequence":"first","affiliation":[]},{"given":"Hannah","family":"Michalska","sequence":"additional","affiliation":[]},{"given":"Alain","family":"Berthoz","sequence":"additional","affiliation":[]},{"given":"Vincent","family":"Hayward","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2018,8,2]]},"reference":[{"key":"9_CR1","doi-asserted-by":"crossref","unstructured":"Ajoudani, A., Lee, J., Rocchi, A., Ferrati, M., Hoffman, E.M., Settimi, A., Caldwell, D.G., Bicchi, A., Tsagarakis, N.G.: A manipulation framework for compliant humanoid COMAN: Application to a valve turning task. In: 2014 IEEE-RAS International Conference on Humanoid Robots, pp. 664\u2013670 (2014)","DOI":"10.1109\/HUMANOIDS.2014.7041434"},{"issue":"3","key":"9_CR2","doi-asserted-by":"publisher","first-page":"227","DOI":"10.1016\/S0966-6362(01)00132-1","volume":"14","author":"JHJ Allum","year":"2001","unstructured":"Allum, J.H.J., Adkin, A.L., Carpenter, M.G., Held-Ziolkowska, M., Honegger, F., Pierchala, K.: Trunk sway measures of postural stability during clinical balance tests: effects of a unilateral vestibular deficit. Gait Posture 14(3), 227\u2013237 (2001)","journal-title":"Gait Posture"},{"key":"9_CR3","unstructured":"Allum, J.H.J., Honegger, F., Pfaltz, C.R.: Afferent Control of Posture and Locomotion, vol. 80 of Progress in Brain Research. Elsevier (1989)"},{"issue":"1","key":"9_CR4","doi-asserted-by":"publisher","first-page":"81","DOI":"10.1109\/JSEN.2006.886995","volume":"7","author":"WT Ang","year":"2007","unstructured":"Ang, W.T., Khosla, P.K., Riviere, C.N.: Nonlinear regression model of a low-g MEMS accelerometer. IEEE Sens. J. 7(1), 81\u201388 (2007)","journal-title":"IEEE Sens. J."},{"key":"9_CR5","doi-asserted-by":"publisher","first-page":"125","DOI":"10.1146\/annurev.neuro.31.060407.125555","volume":"31","author":"DE Angelaki","year":"2008","unstructured":"Angelaki, D.E., Cullen, K.E.: Vestibular system: the many facets of a multimodal sense. Annu. Rev. Neurosci. 31, 125\u2013150 (2008)","journal-title":"Annu. Rev. Neurosci."},{"issue":"1","key":"9_CR6","doi-asserted-by":"publisher","first-page":"5","DOI":"10.1109\/TRO.2008.915449","volume":"24","author":"G Arechavaleta","year":"2008","unstructured":"Arechavaleta, G., Laumond, J.-P., Hicheur, H., Berthoz, A.: An optimality principle governing human walking. IEEE Trans. Robot. 24(1), 5\u201314 (2008)","journal-title":"IEEE Trans. Robot."},{"issue":"1","key":"9_CR7","doi-asserted-by":"publisher","first-page":"54","DOI":"10.1016\/j.robot.2007.09.013","volume":"56","author":"T Asfour","year":"2008","unstructured":"Asfour, T., Azad, P., Vahrenkamp, N., Regenstein, K., Bierbaum, A., Welke, K., Schr\u00f6der, J., Dillmann, R.: Toward humanoid manipulation in human-centred environments. Robot. Autonom. Syst. 56(1), 54\u201365 (2008)","journal-title":"Robot. Autonom. Syst."},{"key":"9_CR8","doi-asserted-by":"crossref","unstructured":"Authie, C., Hilt, P., N\u2019Guyen, S., Berthoz, A., Bennequin, D.: Differences in gaze anticipation for locomotion with and without vision. Front. Hum. Neurosci. (2015) (June 9)","DOI":"10.3389\/fnhum.2015.00312"},{"key":"9_CR9","unstructured":"Baerveldt, A.-J., Klang, R.: A low-cost and low-weight attitude estimation system for an autonomous helicopter. In: Proceedings of IEEE International Conference on Intelligent Engineering Systems, pp. 391\u2013395. IEEE (1997)"},{"issue":"3","key":"9_CR10","doi-asserted-by":"publisher","first-page":"735","DOI":"10.1152\/jn.1985.54.3.735","volume":"54","author":"J Baker","year":"1985","unstructured":"Baker, J., Goldberg, J., Peterson, B.: Spatial and temporal response properties of the vestibulocollic reflex in decerebrate cats. J. Neurophysiol. 54(3), 735\u2013756 (1985)","journal-title":"J. Neurophysiol."},{"key":"9_CR11","doi-asserted-by":"crossref","unstructured":"Baldwin, G., Mahony, R., Trumpf, J.: A nonlinear observer for 6 dof pose estimation from inertial and bearing measurements. In: 2009 IEEE International Conference on Robotics and Automation, pp. 2237\u20132242. IEEE (2009)","DOI":"10.1109\/ROBOT.2009.5152242"},{"issue":"4","key":"9_CR12","doi-asserted-by":"publisher","first-page":"332","DOI":"10.1109\/7361.983473","volume":"1","author":"N Barbour","year":"2001","unstructured":"Barbour, N., Schmidt, G.: Inertial sensor technology trends. IEEE Sens. J. 1(4), 332\u2013339 (2001)","journal-title":"IEEE Sens. J."},{"issue":"3","key":"9_CR13","doi-asserted-by":"publisher","first-page":"328","DOI":"10.1109\/70.388775","volume":"11","author":"B Barshan","year":"1995","unstructured":"Barshan, B., Durrant-Whyte, H.: Inertial navigation systems for mobile robots. IEEE Trans. Robot. Autom. 11(3), 328\u2013342 (1995)","journal-title":"IEEE Trans. Robot. Autom."},{"key":"9_CR14","doi-asserted-by":"crossref","unstructured":"Benallegue, M., Lamiraux, F.: Humanoid flexibility deformation can be efficiently estimated using only inertial measurement units and contact information. In: 2014 IEEE-RAS International Conference on Humanoid Robots, pp. 246\u2013251 (2014)","DOI":"10.1109\/HUMANOIDS.2014.7041367"},{"issue":"1","key":"9_CR15","doi-asserted-by":"publisher","first-page":"65","DOI":"10.1007\/s00221-012-3241-2","volume":"223","author":"D Bernardin","year":"2012","unstructured":"Bernardin, D., Kadone, H., Bennequin, D., Sugar, T., Zaoui, M., Berthoz, A.: Gaze anticipation during human locomotion. Exp. Brain Res. 223(1), 65\u201378 (2012)","journal-title":"Exp. Brain Res."},{"key":"9_CR16","volume-title":"The Brain\u2019s Sense of Movement","author":"A Berthoz","year":"2000","unstructured":"Berthoz, A.: The Brain\u2019s Sense of Movement. Harvard University Press, Cambridge (2000)"},{"issue":"1","key":"9_CR17","doi-asserted-by":"publisher","first-page":"717","DOI":"10.1113\/jphysiol.1989.sp017895","volume":"419","author":"A Berthoz","year":"1989","unstructured":"Berthoz, A., Droulez, J., Vidal, P.P., Yoshida, K.: Neural correlates of horizontal vestibulo-ocular reflex cancellation during rapid eye movements in the cat. J. Physiol. 419(1), 717\u2013751 (1989)","journal-title":"J. Physiol."},{"key":"9_CR18","doi-asserted-by":"crossref","unstructured":"Berthoz, A., Jones, M.G., Begue, A.: Differential visual adaptation of vertical canal-dependent vestibulo-ocular reflexes. Exp. Brain Res. 44(1) (1981)","DOI":"10.1007\/BF00238745"},{"key":"9_CR19","doi-asserted-by":"crossref","unstructured":"Berthoz, A., Pavard, B., Young, L.: Perception of linear horizontal self-motion induced by peripheral vision (linear vection) basic characteristics and visual-vestibular interactions. Exp. Brain Res. 23(5) (1975)","DOI":"10.1007\/BF00234916"},{"issue":"5","key":"9_CR20","doi-asserted-by":"publisher","first-page":"1523","DOI":"10.1093\/brain\/119.5.1523","volume":"119","author":"AR Bisdorff","year":"1996","unstructured":"Bisdorff, A.R., Wolsley, C.J., Anastasopoulos, D., Bronstein, A.M., Gresty, M.A.: The perception of body verticality (subjective postural vertical) in peripheral and central vestibular disorders. Brain 119(5), 1523\u20131534 (1996)","journal-title":"Brain"},{"key":"9_CR21","doi-asserted-by":"publisher","first-page":"51","DOI":"10.1111\/j.1749-6632.1988.tb19555.x","volume":"545","author":"J Borah","year":"1988","unstructured":"Borah, J., Young, L.R., Curry, R.E.: Optimal estimator model for human spatial orientation. Ann. N.Y. Acad. Sci. 545, 51\u201373 (1988)","journal-title":"Ann. N.Y. Acad. Sci."},{"issue":"4","key":"9_CR22","doi-asserted-by":"publisher","first-page":"664","DOI":"10.1109\/TRO.2011.2112950","volume":"27","author":"S Bras","year":"2011","unstructured":"Bras, S., Cunha, R., Vasconcelos, J.F., Silvestre, C., Oliveira, P.: A nonlinear attitude observer based on active vision and inertial measurements. IEEE Trans. Robot. 27(4), 664\u2013677 (2011)","journal-title":"IEEE Trans. Robot."},{"issue":"1\u20132","key":"9_CR23","first-page":"1","volume":"105","author":"AM Bronstein","year":"1998","unstructured":"Bronstein, A.M.: Evidence for a vestibular input contributing to dynamic head stabilization in man. Acta Otolaryngol. 105(1\u20132), 1\u20136 (1998)","journal-title":"Acta Otolaryngol."},{"key":"9_CR24","doi-asserted-by":"crossref","unstructured":"Brooks, R.A., Breazeal, C.: The cog project: building a humanoid robot. In: Computation for Metaphors, Analogy, and Agents. Lecture Notes in Computer Science, vol. 1562, pp. 52\u201387 (1999)","DOI":"10.1007\/3-540-48834-0_5"},{"issue":"6","key":"9_CR25","doi-asserted-by":"crossref","first-page":"371","DOI":"10.3233\/VES-2002-11604","volume":"11","author":"JJ Buchanan","year":"2002","unstructured":"Buchanan, J.J., Horak, F.B.: Vestibular loss disrupts control of head and trunk on a sinusoidally moving platform. J. Vestib. Res. Equilib. Orientation 11(6), 371\u201389 (2002)","journal-title":"J. Vestib. Res. Equilib. Orientation"},{"key":"9_CR26","doi-asserted-by":"crossref","unstructured":"Bums, E., Homing, R., Herb, W., Zook, J., Guckel, H.: Resonant microibeam accelerometers. In: Proceedings of the International Solid-State Sensors and Actuators Conference\u2014TRANSDUCERS \u201995, vol. 2, pp. 659\u2013662. IEEE (1995)","DOI":"10.1109\/SENSOR.1995.721918"},{"issue":"3\u20135","key":"9_CR27","doi-asserted-by":"publisher","first-page":"141","DOI":"10.1016\/j.jphysparis.2009.07.008","volume":"103","author":"T Buschmann","year":"2009","unstructured":"Buschmann, T., Lohmeier, S., Ulbrich, H.: Humanoid robot lola: design and walking control. J. Physiol. Paris 103(3\u20135), 141\u2013148 (2009)","journal-title":"J. Physiol. Paris"},{"key":"9_CR28","unstructured":"Carey, J.P., Santina, C.C.D.: Principles of applied vestibular physiology. In: Cummings Otolaryngology\u2014Head and Neck Surgery, Chapter 163. Mosby (2005)"},{"key":"9_CR29","doi-asserted-by":"crossref","unstructured":"Chang, Y.-H., Oh, Y., Kim, D., Hong, S.: Balance control in whole body coordination framework for biped humanoid robot MAHRU-R. In: RO-MAN 2008\u2014The 17th IEEE International Symposium on Robot and Human Interactive Communication, pp. 401\u2013406. IEEE (2008)","DOI":"10.1109\/ROMAN.2008.4600699"},{"issue":"3","key":"9_CR30","doi-asserted-by":"publisher","first-page":"311","DOI":"10.1111\/j.2044-8295.1971.tb02042.x","volume":"62","author":"WG Chase","year":"1971","unstructured":"Chase, W.G., Clark, H.H.: Semantics in the perception of verticality. Br. J. Psychol. 62(3), 311\u2013326 (1971)","journal-title":"Br. J. Psychol."},{"issue":"10","key":"9_CR31","doi-asserted-by":"publisher","first-page":"1097","DOI":"10.1163\/156855307781389356","volume":"21","author":"G Cheng","year":"2007","unstructured":"Cheng, G., Hyon, S.-H., Morimoto, J., Ude, A., Hale, J.G., Colvin, G., Scroggin, W., Jacobsen, S.C.: Cb: a humanoid research platform for exploring neuroscience. Adv. Robot. 21(10), 1097\u20131114 (2007)","journal-title":"Adv. Robot."},{"key":"9_CR32","first-page":"1758","volume":"1","author":"G Ciaravella","year":"2006","unstructured":"Ciaravella, G., Laschi, C., Dario, P.: Biomechanical modeling of semicircular canals for fabricating a biomimetic vestibular system. IEEE Eng. Med. Biol. Soc. 1, 1758\u20131761 (2006)","journal-title":"IEEE Eng. Med. Biol. Soc."},{"issue":"1","key":"9_CR33","doi-asserted-by":"publisher","first-page":"12","DOI":"10.2514\/1.22452","volume":"30","author":"JL Crassidis","year":"2007","unstructured":"Crassidis, J.L., Markley, F.L., Cheng, Y.: Survey of nonlinear attitude estimation methods. J. Guidance Control Dyn. 30(1), 12\u201328 (2007)","journal-title":"J. Guidance Control Dyn."},{"issue":"S2","key":"9_CR34","doi-asserted-by":"publisher","first-page":"563","DOI":"10.1007\/s10336-007-0199-0","volume":"148","author":"TW Cronin","year":"2007","unstructured":"Cronin, T.W., Kinloch, M.R., Olsen, G.H.: Head-bobbing behavior in walking whooping cranes (grus americana) and sandhill cranes (grus canadensis). J. Ornithol. 148(S2), 563\u2013569 (2007)","journal-title":"J. Ornithol."},{"issue":"3","key":"9_CR35","doi-asserted-by":"publisher","first-page":"185","DOI":"10.1016\/j.tins.2011.12.001","volume":"35","author":"KE Cullen","year":"2012","unstructured":"Cullen, K.E.: The vestibular system: multimodal integration and encoding of self-motion for motor control. Trends Neurosci. 35(3), 185\u201396 (2012)","journal-title":"Trends Neurosci."},{"issue":"1","key":"9_CR36","doi-asserted-by":"publisher","first-page":"17","DOI":"10.1002\/jmor.1051510103","volume":"151","author":"IS Curthoys","year":"1977","unstructured":"Curthoys, I.S., Markham, C.H., Curthoys, E.J.: Semicircular duct and ampulla dimensions in cat, guinea pig and man. J. Morphol. 151(1), 17\u201334 (1977)","journal-title":"J. Morphol."},{"key":"9_CR37","doi-asserted-by":"publisher","first-page":"32772","DOI":"10.1038\/srep32772","volume":"6","author":"R David","year":"2016","unstructured":"David, R., Stoessel, A., Berthoz, A., Spoor, F., Bennequin, D.: Assessing morphology and function of the semicircular duct system: introducing new in-situ visualization and software toolbox. Sci. Rep. 6, 32772 (2016)","journal-title":"Sci. Rep."},{"issue":"1","key":"9_CR38","doi-asserted-by":"crossref","first-page":"71","DOI":"10.1242\/jeb.138.1.71","volume":"138","author":"MN Davies","year":"1988","unstructured":"Davies, M.N., Green, P.R.: Head-bobbing during walking, running and flying: relative motion perception in the pigeon. J. Exp. Biol. 138(1), 71\u201391 (1988)","journal-title":"J. Exp. Biol."},{"issue":"3","key":"9_CR39","doi-asserted-by":"publisher","first-page":"262","DOI":"10.3109\/00016485009118384","volume":"38","author":"H Vries De","year":"1951","unstructured":"De Vries, H.: The mechanics of the labyrinth otoliths. Acta Otolaryngol. 38(3), 262\u201373 (1951)","journal-title":"Acta Otolaryngol."},{"issue":"1","key":"9_CR40","doi-asserted-by":"publisher","first-page":"83","DOI":"10.1097\/00019052-199502000-00014","volume":"8","author":"M Dieterich","year":"1995","unstructured":"Dieterich, M., Brandt, T.: Vestibulo-ocular reflex. Curr. Opin. Neurol. 8(1), 83\u20138 (1995)","journal-title":"Curr. Opin. Neurol."},{"key":"9_CR41","doi-asserted-by":"crossref","unstructured":"Dimiccoli, M., Girard, B., Berthoz, A., Bennequin, D.: A functional explanation of otolith geometry. J. Comput. Neurosci. 35(2) (2013)","DOI":"10.1007\/s10827-013-0444-x"},{"issue":"6","key":"9_CR42","doi-asserted-by":"publisher","first-page":"1027","DOI":"10.1242\/jeb.00863","volume":"207","author":"DC Dunbar","year":"2004","unstructured":"Dunbar, D.C.: Stabilization and mobility of the head and trunk in wild monkeys during terrestrial and flat-surface walks and gallops. J. Exp. Biol. 207(6), 1027\u20131042 (2004)","journal-title":"J. Exp. Biol."},{"issue":"Pt 24","key":"9_CR43","doi-asserted-by":"publisher","first-page":"3889","DOI":"10.1242\/jeb.020578","volume":"211","author":"DC Dunbar","year":"2008","unstructured":"Dunbar, D.C., Macpherson, J.M., Simmons, R.W., Zarcades, A.: Stabilization and mobility of the head, neck and trunk in horses during overground locomotion: comparisons with humans and other primates. J. Exp. Biol. 211(Pt 24), 3889\u2013907 (2008)","journal-title":"J. Exp. Biol."},{"issue":"6","key":"9_CR44","doi-asserted-by":"publisher","first-page":"577","DOI":"10.2514\/3.27706","volume":"1","author":"RC Duncan","year":"1964","unstructured":"Duncan, R.C., Gunnersen, A.L.F.S.J.: Inertial guidance, navigation, and control systems. J. Spacecraft Rockets 1(6), 577\u2013587 (1964)","journal-title":"J. Spacecraft Rockets"},{"issue":"4","key":"9_CR45","doi-asserted-by":"publisher","first-page":"162","DOI":"10.1016\/j.tics.2004.02.002","volume":"8","author":"MO Ernst","year":"2004","unstructured":"Ernst, M.O., B\u00fclthoff, H.H.: Merging the senses into a robust percept. Trends Cogn. Sci. 8(4), 162\u20139 (2004)","journal-title":"Trends Cogn. Sci."},{"key":"9_CR46","doi-asserted-by":"crossref","unstructured":"Euston, M., Coote, P., Mahony, R., Hamel, T.: A complementary filter for attitude estimation of a fixed-wing UAV. In: 2008 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 340\u2013345. IEEE (2008)","DOI":"10.1109\/IROS.2008.4650766"},{"issue":"2","key":"9_CR47","doi-asserted-by":"publisher","first-page":"459","DOI":"10.1152\/jn.1978.41.2.459","volume":"41","author":"K Ezure","year":"1978","unstructured":"Ezure, K., Sasaki, S., Uchino, Y., Wilson, V.J.: Frequency-response analysis of vestibular-induced neck reflex in cat. ii. functional significance of cervical afferents and polysynaptic descending pathways. J. Neurophysiol. 41(2), 459\u2013471 (1978)","journal-title":"J. Neurophysiol."},{"key":"9_CR48","doi-asserted-by":"crossref","unstructured":"Fall\u00f3n, M.F., Antone, M., Roy, N., Teller, S.: Drift-free humanoid state estimation fusing kinematic, inertial and lidar sensing. In: 2014 IEEE-RAS International Conference on Humanoid Robots, pp. 112\u2013119 (2014)","DOI":"10.1109\/HUMANOIDS.2014.7041346"},{"key":"9_CR49","doi-asserted-by":"crossref","unstructured":"Falotico, E., Cauli, N., Hashimoto, K., Kryczka, P., Takanishi, A., Dario, P., Berthoz, A., Laschi, C.: Head stabilization based on a feedback error learning in a humanoid robot. In: 2012 IEEE RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, pp. 449\u2013454. IEEE (2012)","DOI":"10.1109\/ROMAN.2012.6343793"},{"issue":"2","key":"9_CR50","doi-asserted-by":"publisher","first-page":"349","DOI":"10.1007\/s10514-016-9583-z","volume":"41","author":"E Falotico","year":"2017","unstructured":"Falotico, E., Cauli, N., Kryczka, P., Hashimoto, K., Berthoz, A., Takanishi, A., Dario, P., Laschi, C.: Head stabilization in a humanoid robot: models and implementations. Autonom. Robots 41(2), 349\u2013365 (2017)","journal-title":"Autonom. Robots"},{"key":"9_CR51","doi-asserted-by":"crossref","unstructured":"Farkhatdinov, I., Hayward, V., Berthoz, A.: On the benefits of head stabilization with a view to control balance and locomotion in humanoids. In: 11th IEEE-RAS International Conference on Humanoid Robots 2011, Bled, Slovenia, pp. 147\u2013152. IEEE (2011)","DOI":"10.1109\/Humanoids.2011.6100859"},{"key":"9_CR52","doi-asserted-by":"crossref","unstructured":"Farkhatdinov, I., Michalska, H., Berthoz, A., Hayward, V.: Modeling verticality estimation during locomotion. In: Romansy 19, Robot Design, Dynamics and Control, vol. 544 of CISM International Centre for Mechanical Sciences, Paris, France, pp. 359\u2013366. Springer (2012)","DOI":"10.1007\/978-3-7091-1379-0_44"},{"key":"9_CR53","doi-asserted-by":"crossref","unstructured":"Farkhatdinov, I., Roehri, N., Burdet, E.: Anticipatory detection of turning in humans for intuitive control of robotic mobility assistance. Bioinspiration Biomimetics 12(5) (2017)","DOI":"10.1088\/1748-3190\/aa80ad"},{"issue":"1","key":"9_CR54","doi-asserted-by":"publisher","first-page":"233","DOI":"10.1109\/JSEN.2010.2053353","volume":"11","author":"H Fourati","year":"2011","unstructured":"Fourati, H., Manamanni, N., Afilal, L., Handrich, Y.: A nonlinear filtering approach for the attitude and dynamic body acceleration estimation based on inertial and magnetic sensors: bio-logging application. IEEE Sens. J. 11(1), 233\u2013244 (2011)","journal-title":"IEEE Sens. J."},{"key":"9_CR55","doi-asserted-by":"crossref","first-page":"187","DOI":"10.1242\/jeb.74.1.187","volume":"74","author":"BJ Frost","year":"1978","unstructured":"Frost, B.J.: The optokinetic basis of head-bobbing in the pigeon. J. Exp. Biol. 74, 187\u2013195 (1978)","journal-title":"J. Exp. Biol."},{"key":"9_CR56","unstructured":"Fujita, M.: Head bobbing and the body movement of little egrets (Egretta garzetta) during walking. J. Comp. Physiol. A Neuroethology Sens. Neural Behav. Physiol. 189(1), 53\u201358 (2003)"},{"issue":"1","key":"9_CR57","first-page":"149","volume":"56","author":"GM Jones","year":"1984","unstructured":"Jones, G.M., Berthoz, A., Segal, B.: Adaptive modification of the vestibulo-ocular reflex by mental effort in darkness. Exp. Brain Res. 56(1), 149\u2013153 (1984)","journal-title":"Exp. Brain Res."},{"key":"9_CR58","doi-asserted-by":"crossref","unstructured":"Gay, S., Ijspeert, A., Santos Victor, J.: Predictive gaze stabilization during periodic locomotion based on adaptive frequency oscillators. In: 2012 IEEE International Conference on Robotics and Automation, pp. 271\u2013278. IEEE (2012)","DOI":"10.1109\/ICRA.2012.6225001"},{"key":"9_CR59","unstructured":"Gebre-Egziabher, D., Hayward, R., Powell, J.: A low-cost GPS\/inertial attitude heading reference system (AHRS) for general aviation applications. In: IEEE 1998 Position Location and Navigation Symposium (Cat. No. 98CH36153), pp. 518\u2013525. IEEE (1998)"},{"key":"9_CR60","unstructured":"Geen, J., Krakauer, D.: Rate-sensing gyroscope. Technical report, ADI Micromachined Products Division (2003)"},{"issue":"3","key":"9_CR61","doi-asserted-by":"publisher","first-page":"857","DOI":"10.1152\/jn.1986.56.3.857","volume":"56","author":"J Goldberg","year":"1986","unstructured":"Goldberg, J., Peterson, B.W.: Reflex and mechanical contributions to head stabilization in alert cats. J. Neurophysiol. 56(3), 857\u2013875 (1986)","journal-title":"J. Neurophysiol."},{"key":"9_CR62","doi-asserted-by":"crossref","unstructured":"Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., Maisonnier, B.: Mechatronic design of NAO humanoid. In: 2009 IEEE International Conference on Robotics and Automation, pp. 769\u2013774. IEEE (2009)","DOI":"10.1109\/ROBOT.2009.5152516"},{"issue":"9","key":"9_CR63","doi-asserted-by":"publisher","first-page":"675","DOI":"10.1016\/S0094-5765(97)00023-4","volume":"40","author":"M Grassi","year":"1997","unstructured":"Grassi, M.: Attitude determination and control for a small remote sensing satellite. Acta Astronaut. 40(9), 675\u2013681 (1997)","journal-title":"Acta Astronaut."},{"issue":"2","key":"9_CR64","doi-asserted-by":"publisher","first-page":"115","DOI":"10.1016\/S0304-3940(98)00625-9","volume":"253","author":"R Grasso","year":"1998","unstructured":"Grasso, R., Pr\u00e9vost, P., Ivanenko, Y.P., Berthoz, A.: Eye-head coordination for the steering of locomotion in humans: an anticipatory synergy. Neurosci. Lett. 253(2), 115\u2013118 (1998)","journal-title":"Neurosci. Lett."},{"issue":"1","key":"9_CR65","doi-asserted-by":"publisher","first-page":"48","DOI":"10.1159\/000006529","volume":"51","author":"PR Green","year":"1998","unstructured":"Green, P.R.: Head orientation and trajectory of locomotion during jumping and walking in domestic chicks. Brain Behav. Evol. 51(1), 48\u201358 (1998)","journal-title":"Brain Behav. Evol."},{"key":"9_CR66","unstructured":"Greiff, P., Antkowiak, B., Campbell, J., Petrovich, A.: Vibrating wheel micromechanical gyro. In: Proceedings of Position, Location and Navigation Symposium\u2014PLANS \u201996, pp. 31\u201337. IEEE (1996)"},{"issue":"1","key":"9_CR67","doi-asserted-by":"publisher","first-page":"3","DOI":"10.1109\/9.62283","volume":"36","author":"M Grewal","year":"1991","unstructured":"Grewal, M., Henderson, V., Miyasako, R.: Application of kalman filtering to the calibration and alignment of inertial navigation systems. IEEE Trans. Autom. Control 36(1), 3\u201313 (1991)","journal-title":"IEEE Trans. Autom. Control"},{"issue":"9","key":"9_CR68","doi-asserted-by":"publisher","first-page":"894","DOI":"10.1288\/00005537-195709000-00005","volume":"67","author":"JJ Groen","year":"1957","unstructured":"Groen, J.J.: Cupulometry. Laryngoscope 67(9), 894\u2013905 (1957)","journal-title":"Laryngoscope"},{"key":"9_CR69","doi-asserted-by":"crossref","unstructured":"Guitton, D., Kearney, R., Wereley, N., Peterson, B.: Visual, vestibular and voluntary contributions to human head stabilization. Exp. Brain Res. 64(1) (1986)","DOI":"10.1007\/BF00238201"},{"key":"9_CR70","unstructured":"Hain, T., Ramaswamy, T., Hilmann, M.: Anatomy and physiology of vestibular system. In: Herdman, S.J. (ed.) Vestibular Rehabilitation, Chapter\u00a01 (2007)"},{"issue":"5","key":"9_CR71","doi-asserted-by":"publisher","first-page":"884","DOI":"10.1109\/TRO.2007.904896","volume":"23","author":"J Hale","year":"2007","unstructured":"Hale, J., Cheng, G.: Full-body compliant human-humanoid interaction: balancing in the presence of unknown external forces. IEEE Trans. Robot. 23(5), 884\u2013898 (2007)","journal-title":"IEEE Trans. Robot."},{"key":"9_CR72","doi-asserted-by":"crossref","unstructured":"Hashimoto, K., Kang, H., Nakamura, M., Falotico, E., Lim, H., Takanishi, A., Laschi, C., Dario, P., Berthoz, A.: Realization of biped walking on soft ground with stabilization control based on gait analysis. In: Proceedings of the 2012 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2014)","DOI":"10.1109\/IROS.2012.6385684"},{"issue":"1\u20132","key":"9_CR73","doi-asserted-by":"publisher","first-page":"87","DOI":"10.1016\/j.neulet.2005.03.046","volume":"383","author":"H Hicheur","year":"2005","unstructured":"Hicheur, H., Vieilledent, S., Berthoz, A.: Head motion in humans alternating between straight and curved walking path: combination of stabilizing and anticipatory orienting mechanisms. Neurosci. Lett. 383(1\u20132), 87\u201392 (2005)","journal-title":"Neurosci. Lett."},{"issue":"1850","key":"9_CR74","doi-asserted-by":"publisher","first-page":"11","DOI":"10.1098\/rsta.2006.1917","volume":"365","author":"M Hirose","year":"2007","unstructured":"Hirose, M., Ogawa, K.: Honda humanoid robots development. Philos. Trans. Ser. A Math. Phys. Eng. Sci. 365(1850), 11\u20139 (2007)","journal-title":"Philos. Trans. Ser. A Math. Phys. Eng. Sci."},{"issue":"02","key":"9_CR75","doi-asserted-by":"publisher","first-page":"70","DOI":"10.1017\/S0022215100008707","volume":"62","author":"J Hulk","year":"1948","unstructured":"Hulk, J., Jongkees, L.B.W.: The turning test with small regulable stimuli. J. Laryngol. Otol. 62(02), 70\u201375 (1948)","journal-title":"J. Laryngol. Otol."},{"issue":"5\u20136","key":"9_CR76","doi-asserted-by":"publisher","first-page":"437","DOI":"10.3109\/00016488109138525","volume":"91","author":"M Igarashi","year":"1981","unstructured":"Igarashi, M., O-Uchi, T., Alford, B.R.: Volumetric and dimensional measurements of vestibular structures in the squirrel monkey. Acta Otolaryngol. 91(5\u20136), 437\u201344 (1981)","journal-title":"Acta Otolaryngol."},{"issue":"6","key":"9_CR77","doi-asserted-by":"publisher","first-page":"3180","DOI":"10.1152\/jn.1997.77.6.3180","volume":"77","author":"I Israel","year":"1997","unstructured":"Israel, I., Grasso, R., Georges-Francois, P., Tsuzuku, T., Berthoz, A.: Spatial memory and path integration studied by self-driven passive linear displacement. i. Basic properties. J. Neurophysiol. 77(6), 3180\u20133192 (1997)","journal-title":"J. Neurophysiol."},{"issue":"5","key":"9_CR78","doi-asserted-by":"publisher","first-page":"1169","DOI":"10.1093\/brain\/118.5.1169","volume":"118","author":"I Isra\u00ebl","year":"1995","unstructured":"Isra\u00ebl, I., Rivaud, S., Gaymard, B., Berthoz, A., Pierrot-Deseilligny, C.: Cortical control of vestibular-guided saccades in man. Brain 118(5), 1169\u20131183 (1995)","journal-title":"Brain"},{"key":"9_CR79","unstructured":"Jun, Y., Ellenburg, R., Oh, P.: From concept to realization: designing miniature humanoids for running. J. Systemics Cybern. Inform. (2010)"},{"key":"9_CR80","doi-asserted-by":"crossref","unstructured":"Kadone, H., Bernardin, D., Bennequin, D., Berthoz, A.: Gaze anticipation during human locomotion-top-down organization that may invert the concept of locomotion in humanoid robots. In: 19th International Symposium in Robot and Human Interactive Communication, pp. 552\u2013557 (2010)","DOI":"10.1109\/ROMAN.2010.5598631"},{"issue":"4","key":"9_CR81","doi-asserted-by":"publisher","first-page":"177","DOI":"10.1016\/j.robot.2004.07.006","volume":"48","author":"S Kagami","year":"2004","unstructured":"Kagami, S., Mochimaru, M., Ehara, Y., Miyata, N., Nishiwaki, K., Kanade, T., Inoue, H.: Measurement and comparison of humanoid H7 walking with human being. Robot. Autonom. Syst. 48(4), 177\u2013187 (2004)","journal-title":"Robot. Autonom. Syst."},{"issue":"Series D","key":"9_CR82","doi-asserted-by":"publisher","first-page":"35","DOI":"10.1115\/1.3662552","volume":"82","author":"RE Kalman","year":"1960","unstructured":"Kalman, R.E.: A new approach to linear filtering and prediction problems 1. Trans. ASME J. Basic Eng. 82(Series D), 35\u201345 (1960)","journal-title":"Trans. ASME J. Basic Eng."},{"issue":"6","key":"9_CR83","doi-asserted-by":"publisher","first-page":"423","DOI":"10.1007\/s003590100210","volume":"187","author":"G Katzir","year":"2001","unstructured":"Katzir, G., Schechtman, E., Carmi, N., Weihs, D.: Head stabilization in herons. J. Comp. Physiol. A Sens. Neural. Behav. Physiol. 187(6), 423\u2013432 (2001)","journal-title":"J. Comp. Physiol. A Sens. Neural. Behav. Physiol."},{"issue":"6","key":"9_CR84","doi-asserted-by":"crossref","first-page":"423","DOI":"10.3233\/VES-1999-9604","volume":"9","author":"EA Keshner","year":"1999","unstructured":"Keshner, E.A., Hain, T.C., Chen, K.J.: Predicting control mechanisms for human head stabilization by altering the passive mechanics. J. Vestib. Res. Equilib. Orientation 9(6), 423\u201334 (1999)","journal-title":"J. Vestib. Res. Equilib. Orientation"},{"issue":"6","key":"9_CR85","doi-asserted-by":"publisher","first-page":"707","DOI":"10.1163\/156855306777361622","volume":"20","author":"J-Y Kim","year":"2006","unstructured":"Kim, J.-Y., Park, I.-W., Oh, J.-H.: Experimental realization of dynamic walking of the biped humanoid robot KHR-2 using zero moment point feedback and inertial measurement. Adv. Robot. 20(6), 707\u2013736 (2006)","journal-title":"Adv. Robot."},{"key":"9_CR86","doi-asserted-by":"crossref","unstructured":"Kryczka, P., Falotico, E., Hashimoto, K., Lim, H., Takanishi, A., Laschi, C., Dario, P., Berthoz, A.: Implementation of a human model for head stabilization on a humanoid platform. In: 2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 675\u2013680. IEEE (2012)","DOI":"10.1109\/BioRob.2012.6290906"},{"key":"9_CR87","doi-asserted-by":"crossref","unstructured":"Lapadatu, D., Habibi, S., Reppen, B., Salomonsen, G., Kvisteroy, T.: Dual-axes capacitive inclinometer\/low-g accelerometer for automotive applications. In: 14th IEEE International Conference on Micro Electro Mechanical Systems, pp. 34\u201337. IEEE (2001)","DOI":"10.1109\/MEMSYS.2001.906472"},{"key":"9_CR88","doi-asserted-by":"crossref","unstructured":"Laumond, J.-P., Arechavaleta, G., Truong, T.-V.-A., Hicheur, H., Pham, Q.-C., Berthoz, A.: The words of the human locomotion. In: Kaneko, M., Nakamura, Y. (eds.) Robotics Research, vol. 66 of Springer Tracts in Advanced Robotics, pp. 35\u201347. Springer (2011)","DOI":"10.1007\/978-3-642-14743-2_4"},{"key":"9_CR89","doi-asserted-by":"crossref","unstructured":"Laumond, J.-P., Benallegue, M., Carpentier, J., Berthoz, A.: The yoyo-man. Int. J. Robot. Res. 0278364917693292 (2017)","DOI":"10.1007\/978-3-319-60916-4_13"},{"issue":"4","key":"9_CR90","doi-asserted-by":"publisher","first-page":"389","DOI":"10.1007\/s00422-006-0133-1","volume":"96","author":"J Laurens","year":"2007","unstructured":"Laurens, J., Droulez, J.: Bayesian processing of vestibular information. Biol. Cybern. 96(4), 389\u2013404 (2007)","journal-title":"Biol. Cybern."},{"issue":"3","key":"9_CR91","doi-asserted-by":"publisher","first-page":"320","DOI":"10.1109\/TMECH.2006.875571","volume":"11","author":"J Leavitt","year":"2006","unstructured":"Leavitt, J., Sideris, A., Bobrow, J.: High bandwidth tilt measurement using low-cost sensors. IEEE\/ASME Trans. Mechatron. 11(3), 320\u2013327 (2006)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"9_CR92","doi-asserted-by":"crossref","unstructured":"Lin, C.-H., Kuo, S.-M.: High-performance inclinometer with wide-angle measurement capability without damping effect. In: 2007 IEEE 20th International Conference on Micro Electro Mechanical Systems (MEMS), pp. 585\u2013588. IEEE (2007)","DOI":"10.1109\/MEMSYS.2007.4432988"},{"issue":"6","key":"9_CR93","doi-asserted-by":"publisher","first-page":"658","DOI":"10.1109\/TMECH.2009.2032079","volume":"14","author":"S Lohmeier","year":"2009","unstructured":"Lohmeier, S., Buschmann, T., Ulbrich, H.: System design and control of anthropomorphic walking robot LOLA. IEEE\/ASME Trans. Mechatron. 14(6), 658\u2013666 (2009)","journal-title":"IEEE\/ASME Trans. Mechatron."},{"key":"9_CR94","doi-asserted-by":"crossref","unstructured":"Lopes, M., Bernardino, A., Santos-Victor, J., Rosander, K., von Hofsten, C.: Biomimetic eye-neck coordination. In: 2009 IEEE 8th International Conference on Development and Learning. IEEE (2009)","DOI":"10.1109\/DEVLRN.2009.5175535"},{"issue":"2","key":"9_CR95","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1109\/TME.1964.4323124","volume":"8","author":"DG Luenberger","year":"1964","unstructured":"Luenberger, D.G.: Observing the state of a linear system. IEEE Trans. Mil. Electron. 8(2), 74\u201380 (1964)","journal-title":"IEEE Trans. Mil. Electron."},{"issue":"6","key":"9_CR96","doi-asserted-by":"publisher","first-page":"2981","DOI":"10.1152\/jn.90677.2008","volume":"100","author":"PR MacNeilage","year":"2008","unstructured":"MacNeilage, P.R., Ganesan, N., Angelaki, D.E.: Computational approaches to spatial orientation: from transfer functions to dynamic bayesian inference. J. Neurophysiol. 100(6), 2981\u201396 (2008)","journal-title":"J. Neurophysiol."},{"key":"9_CR97","doi-asserted-by":"crossref","unstructured":"Manaf, A.B.A., Nakamura, K., Onishi, J., Matsumoto, Y.: One-side-electrode-type fluid-based inclinometer combined with cmos circuitry. In: 2007 IEEE Sensors, pp. 844\u2013847. IEEE (2007)","DOI":"10.1109\/ICSENS.2007.4388533"},{"issue":"4","key":"9_CR98","doi-asserted-by":"publisher","first-page":"M118","DOI":"10.1093\/geronj\/44.4.M118","volume":"44","author":"D Manchester","year":"1989","unstructured":"Manchester, D., Woollacott, M., Zederbauer-Hylton, N., Marin, O.: Visual, vestibular and somatosensory contributions to balance control in the older adult. J. Gerontol. 44(4), M118\u2013M127 (1989)","journal-title":"J. Gerontol."},{"issue":"6728","key":"9_CR99","doi-asserted-by":"publisher","first-page":"615","DOI":"10.1038\/19303","volume":"398","author":"DM Merfeld","year":"1999","unstructured":"Merfeld, D.M., Zupan, L., Peterka, R.J.: Humans use internal models to estimate gravity and linear acceleration. Nature 398(6728), 615\u20138 (1999)","journal-title":"Nature"},{"issue":"2","key":"9_CR100","doi-asserted-by":"publisher","first-page":"819","DOI":"10.1152\/jn.00485.2001","volume":"87","author":"DM Merfeld","year":"2002","unstructured":"Merfeld, D.M., Zupan, L.H.: Neural processing of gravitoinertial cues in humans. iii. Modeling tilt and translation responses. J. Neurophysiol. 87(2), 819\u2013833 (2002)","journal-title":"J. Neurophysiol."},{"issue":"4","key":"9_CR101","doi-asserted-by":"publisher","first-page":"1648","DOI":"10.1152\/jn.2001.85.4.1648","volume":"85","author":"DM Merfeld","year":"2001","unstructured":"Merfeld, D.M., Zupan, L.H., Gifford, C.A.: Neural processing of gravito-inertial cues in humans. ii. Influence of the semicircular canals during eccentric rotation. J. Neurophysiol. 85(4), 1648\u20131660 (2001)","journal-title":"J. Neurophysiol."},{"issue":"1\u20133","key":"9_CR102","doi-asserted-by":"publisher","first-page":"134","DOI":"10.1016\/S0924-4247(97)01387-3","volume":"60","author":"U Mescheder","year":"1997","unstructured":"Mescheder, U., Majer, S.: Micromechanical inclinometer. Sens. Actuators A Phys. 60(1\u20133), 134\u2013138 (1997)","journal-title":"Sens. Actuators A Phys."},{"issue":"12","key":"9_CR103","doi-asserted-by":"publisher","first-page":"1511","DOI":"10.1016\/j.conengprac.2006.02.015","volume":"14","author":"N Metni","year":"2006","unstructured":"Metni, N., Pflimlin, J.-M., Hamel, T., Sou\u00e8res, P.: Attitude and gyro bias estimation for a VTOL UAV. Control Eng. Pract. 14(12), 1511\u20131520 (2006)","journal-title":"Control Eng. Pract."},{"issue":"4","key":"9_CR104","doi-asserted-by":"publisher","first-page":"211","DOI":"10.1016\/j.robot.2004.09.018","volume":"50","author":"J-A Meyer","year":"2005","unstructured":"Meyer, J.-A., Guillot, A., Girard, B., Khamassi, M., Pirim, P., Berthoz, A.: The psikharpax project: towards building an artificial rat. Robot. Autonom. Syst. 50(4), 211\u2013223 (2005)","journal-title":"Robot. Autonom. Syst."},{"key":"9_CR105","doi-asserted-by":"crossref","unstructured":"Mottier, P., Pouteau, P.: Solid state optical gyrometer integrated on silicon. Electron. Lett. 33(23) (1997)","DOI":"10.1049\/el:19971319"},{"key":"9_CR106","unstructured":"Necker, R.: Head-bobbing of walking birds. J. Comp. Physiol. A Neuroethology Sens. Neural Behav. Physiol. 193(12), 1177\u20131183 (2007)"},{"key":"9_CR107","doi-asserted-by":"crossref","unstructured":"Niven, J., Hixson, W.: Frequency response of the human semicircular canals: I. Steady-state ocular nystagmus response to high-level sinusoidal angular rotations. Technical report, NASA Naval School of Aviation Medicine (1961)","DOI":"10.1037\/e420062004-001"},{"key":"9_CR108","unstructured":"Novack, M.J.: Design and fabrication of a thin film micromachined accelerometer. Ph.D. thesis, Massachusetts Institute of Technology (1992)"},{"key":"9_CR109","doi-asserted-by":"crossref","unstructured":"Paian, F., Laschi, C., Miwa, H., Guglielmelli, E., Dario, P., Takanishi, A.: Design and development of a biologically-inspired artificial vestibular system for robot heads. In: 2004 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 2, pp. 1317\u20131322. IEEE (2004)","DOI":"10.1109\/IROS.2004.1389578"},{"issue":"1\u20134","key":"9_CR110","doi-asserted-by":"publisher","first-page":"323","DOI":"10.1016\/S0925-2312(01)00645-2","volume":"48","author":"F Panerai","year":"2002","unstructured":"Panerai, F., Metta, G., Sandini, G.: Learning visual stabilization reflexes in robots with moving eyes. Neurocomputing 48(1\u20134), 323\u2013337 (2002)","journal-title":"Neurocomputing"},{"key":"9_CR111","doi-asserted-by":"crossref","unstructured":"Paramiggiani, A., Maggiali, M., Natale, L., Nori, F., Schmitz, A., Tsagarakis, N., Victor, J.S., Becchi, F., Sandini, G., Metta, G.: The design of the iCub humanoid robot. Int. J. Humanoid Rob. 1250027 (2012)","DOI":"10.1142\/S0219843612500272"},{"key":"9_CR112","unstructured":"Park, I.-W., Kim, J.-Y., Lee, J., Oh, J.-H.: Mechanical design of humanoid robot platform KHR-3 (KAIST humanoid robot - 3: HUBO). In: 5th IEEE-RAS International Conference on Humanoid Robots, 2005, pp. 321\u2013326. IEEE (2005)"},{"issue":"3","key":"9_CR113","doi-asserted-by":"publisher","first-page":"243","DOI":"10.1016\/S0304-3940(02)01390-3","volume":"339","author":"P Pascal","year":"2003","unstructured":"Pascal, P., Ivanenko, Y., Grasso, R., Berthoz, A.: Spatial invariance in anticipatory orienting behaviour during human navigation. Neurosci. Lett. 339(3), 243\u2013247 (2003)","journal-title":"Neurosci. Lett."},{"key":"9_CR114","doi-asserted-by":"crossref","unstructured":"Pateromichelakis, N., Mazel, A., Hache, M., Koumpogiannis, T., Gelin, R., Maisonnier, B., Berthoz, A.: Head-eyes system and gaze analysis of the humanoid robot Romeo. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), pp. 1374\u20131379. IEEE (2014)","DOI":"10.1109\/IROS.2014.6942736"},{"issue":"1","key":"9_CR115","doi-asserted-by":"publisher","first-page":"97","DOI":"10.1007\/BF00230842","volume":"82","author":"T Pozzo","year":"1990","unstructured":"Pozzo, T., Berthoz, A., Lefort, L.: Head stabilisation during various locomotor tasks in humans. Exp. Brain Res. 82(1), 97\u2013106 (1990)","journal-title":"Exp. Brain Res."},{"key":"9_CR116","doi-asserted-by":"publisher","first-page":"208","DOI":"10.1007\/BF00230002","volume":"85","author":"T Pozzo","year":"1991","unstructured":"Pozzo, T., Berthoz, A., Lefort, L., Vitte, E.: Head stabilization during various locomotory tasks in humans ii. Patients with bilateral vestibular deficits. Exp. Brain Res. 85, 208\u2013217 (1991)","journal-title":"Exp. Brain Res."},{"issue":"2","key":"9_CR117","doi-asserted-by":"publisher","first-page":"327","DOI":"10.1007\/BF00241128","volume":"106","author":"T Pozzo","year":"1995","unstructured":"Pozzo, T., Levik, Y., Berthoz, A.: Head and trunk movements in the frontal plane during complex dynamic equilibrium tasks in humans. Exp. Brain Res. 106(2), 327\u2013338 (1995)","journal-title":"Exp. Brain Res."},{"issue":"1\u20133","key":"9_CR118","doi-asserted-by":"publisher","first-page":"324","DOI":"10.1016\/S0924-4247(98)00032-6","volume":"68","author":"R Puers","year":"1998","unstructured":"Puers, R., Reyntjens, S.: Design and processing experiments of a new miniaturized capacitive triaxial accelerometer. Sens. Actuators A Phys. 68(1\u20133), 324\u2013328 (1998)","journal-title":"Sens. Actuators A Phys."},{"issue":"10","key":"9_CR119","first-page":"2301","volume":"11","author":"J Qian","year":"2011","unstructured":"Qian, J., Fang, B., Yang, W., Luan, X., Nan, H.: Accurate tilt sensing with linear model. IEEE Sens. J. 11(10), 2301\u20132309 (2011)","journal-title":"IEEE Sens. J."},{"issue":"4","key":"9_CR120","doi-asserted-by":"publisher","first-page":"653","DOI":"10.1016\/j.automatica.2003.11.002","volume":"40","author":"H Rehbinder","year":"2004","unstructured":"Rehbinder, H., Hu, X.: Drift-free attitude estimation for accelerated rigid bodies. Automatica 40(4), 653\u2013659 (2004)","journal-title":"Automatica"},{"key":"9_CR121","doi-asserted-by":"publisher","first-page":"10","DOI":"10.1111\/j.1749-6632.1988.tb19552.x","volume":"545","author":"H Reisine","year":"1988","unstructured":"Reisine, H., Simpson, J.I., Henn, V.: A geometric analysis of semicircular canals and induced activity in their peripheral afferents in the rhesus monkey. Ann. N.Y. Acad. Sci. 545, 10\u201320 (1988)","journal-title":"Ann. N.Y. Acad. Sci."},{"key":"9_CR122","doi-asserted-by":"crossref","unstructured":"Roncone, A., Pattacini, U., Metta, G., Natale, L.: Gaze stabilization for humanoid robots: a comprehensive framework. In: 2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 259\u2013264. IEEE (2014)","DOI":"10.1109\/HUMANOIDS.2014.7041369"},{"key":"9_CR123","doi-asserted-by":"crossref","unstructured":"Rotella, N., Bloesch, M., Righetti, L., Schaal, S.: State estimation for a humanoid robot. In: 2014 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 952\u2013958 (2014)","DOI":"10.1109\/IROS.2014.6942674"},{"key":"9_CR124","doi-asserted-by":"crossref","unstructured":"Sakagami, Y., Watanabe, R., Aoyama, C., Matsunaga, S., Higaki, N., Fujimura, K.: The intelligent ASIMO: system overview and integration. In: IEEE\/RSJ International Conference on Intelligent Robots and System, vol. 3, pp. 2478\u20132483. IEEE (2002)","DOI":"10.1109\/IRDS.2002.1041641"},{"key":"9_CR125","doi-asserted-by":"crossref","unstructured":"Schwarz, M., Rodehutskors, T., Schreiber, M., Behnke, S.: Hybrid driving-stepping locomotion with the wheeled-legged robot momaro. In: 2016 IEEE International Conference on Robotics and Automation (ICRA), pp. 5589\u20135595 (2016)","DOI":"10.1109\/ICRA.2016.7487776"},{"issue":"2","key":"9_CR126","doi-asserted-by":"crossref","first-page":"69","DOI":"10.3233\/VES-2012-0451","volume":"22","author":"P Selva","year":"2012","unstructured":"Selva, P., Oman, C.M.: Relationships between Observer and Kalman filter models for human dynamic spatial orientation. J. Vestib. Res. Equilib. Orientation 22(2), 69\u201380 (2012)","journal-title":"J. Vestib. Res. Equilib. Orientation"},{"issue":"3 Pt 1","key":"9_CR127","doi-asserted-by":"publisher","first-page":"198","DOI":"10.1177\/000348949310200306","volume":"102","author":"NT Shepard","year":"1993","unstructured":"Shepard, N.T., Telian, S.A., Smith-Wheelock, M., Raj, A.: Vestibular and balance rehabilitation therapy. Ann. Otol. Rhinol. Laryngol. 102(3 Pt 1), 198\u2013205 (1993)","journal-title":"Ann. Otol. Rhinol. Laryngol."},{"issue":"2","key":"9_CR128","doi-asserted-by":"publisher","first-page":"201","DOI":"10.1016\/S0893-6080(00)00084-8","volume":"14","author":"T Shibata","year":"2001","unstructured":"Shibata, T., Schaal, S.: Biomimetic gaze stabilization based on feedback-error-learning with nonparametric regression networks. Neural Netw. 14(2), 201\u2013216 (2001)","journal-title":"Neural Netw."},{"key":"9_CR129","unstructured":"Shibata, T., Vijayakumar, S.: Humanoid oculomotor control based on concepts of computational neuroscience. In: IEEE-RAS International Conference on Humanoid Robots, Japan (2001)"},{"key":"9_CR130","doi-asserted-by":"crossref","unstructured":"Sreenivasa, M.N., Soueres, P., Laumond, J.-P., Berthoz, A.: Steering a humanoid robot by its head. In: 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 4451\u20134456. IEEE (2009)","DOI":"10.1109\/IROS.2009.5354503"},{"key":"9_CR131","doi-asserted-by":"crossref","unstructured":"Stephens, B.J., Atkeson, C.G.: Dynamic balance force control for compliant humanoid robots. In: 2010 IEEE\/RSJ International Conference on Intelligent Robots and Systems, pp. 1248\u20131255. IEEE (2010)","DOI":"10.1109\/IROS.2010.5648837"},{"key":"9_CR132","doi-asserted-by":"crossref","unstructured":"Sugimoto, N., Morimoto, J., Hyon, S.-H., Kawato, M.: The eMOSAIC model for humanoid robot control. Neural Netw. Official J. Int. Neural Netw. Soc. 29-30(null), 8\u201319 (2012)","DOI":"10.1016\/j.neunet.2012.01.002"},{"issue":"3\u20134","key":"9_CR133","doi-asserted-by":"publisher","first-page":"285","DOI":"10.1155\/2009\/326956","volume":"6","author":"MS Svendsen","year":"2009","unstructured":"Svendsen, M.S., Helbo, J., Hansen, M.R., Popovic, D.B., Stoustrup, J., Pedersen, M.M.: Aau-bot1: a platform for studying dynamic, life-like walking. Appl. Bionics Biomech. 6(3\u20134), 285\u2013299 (2009)","journal-title":"Appl. Bionics Biomech."},{"issue":"3","key":"9_CR134","doi-asserted-by":"publisher","first-page":"175","DOI":"10.1504\/IJBBR.2011.040036","volume":"1","author":"KA Tahboub","year":"2011","unstructured":"Tahboub, K.A.: Biologically-inspired postural and reaching control of a multi-segment humanoid robot. Int. J. Biomechatron. Biomed. Robot. 1(3), 175\u2013190 (2011)","journal-title":"Int. J. Biomechatron. Biomed. Robot."},{"key":"9_CR135","doi-asserted-by":"crossref","unstructured":"Trimpe, S., D\u2019Andrea, R.: Accelerometer-based tilt estimation of a rigid body with only rotational degrees of freedom. In: 2010 IEEE International Conference on Robotics and Automation, pp. 2630\u20132636. IEEE (2010)","DOI":"10.1109\/ROBOT.2010.5509756"},{"issue":"5","key":"9_CR136","doi-asserted-by":"crossref","first-page":"935","DOI":"10.1242\/jeb.203.5.935","volume":"203","author":"N Troje","year":"2000","unstructured":"Troje, N., Frost, B.: Head-bobbing in pigeons: how stable is the hold phase? J. Exp. Biol. 203(5), 935\u2013940 (2000)","journal-title":"J. Exp. Biol."},{"issue":"10","key":"9_CR137","doi-asserted-by":"publisher","first-page":"1151","DOI":"10.1163\/156855307781389419","volume":"21","author":"NG Tsagarakis","year":"2007","unstructured":"Tsagarakis, N.G., Metta, G., Sandini, G., Vernon, D., Beira, R., Becchi, F., Righetti, L., Santos-Victor, J., Ijspeert, A.J., Carrozza, M.C., Caldwell, D.G.: icub: the design and realization of an open humanoid platform for cognitive and neuroscience research. Adv. Robot. 21(10), 1151\u20131175 (2007)","journal-title":"Adv. Robot."},{"key":"9_CR138","doi-asserted-by":"crossref","unstructured":"Vaganay, J., Aldon, M., Fournier, A.: Mobile robot attitude estimation by fusion of inertial data. In: Proceedings IEEE International Conference on Robotics and Automation, pp. 277\u2013282. IEEE Computer Society Press (1993)","DOI":"10.1109\/ROBOT.1993.291995"},{"issue":"01","key":"9_CR139","doi-asserted-by":"publisher","first-page":"87","DOI":"10.1017\/S0022112076002346","volume":"78","author":"WC Buskirk Van","year":"1976","unstructured":"Van Buskirk, W.C., Watts, R.G., Liu, Y.K.: The fluid mechanics of the semicircular canals. J. Fluid Mech. 78(01), 87\u201398 (1976)","journal-title":"J. Fluid Mech."},{"key":"9_CR140","doi-asserted-by":"crossref","unstructured":"Vannucci, L., Tolu, S., Falotico, E., Dario, P., Lund, H.H., Laschi, C.: Adaptive gaze stabilization through cerebellar internal models in a humanoid robot. In: 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), pp. 25\u201330. IEEE (2016)","DOI":"10.1109\/BIOROB.2016.7523593"},{"issue":"3\u20134","key":"9_CR141","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1016\/j.sysconle.2009.11.008","volume":"59","author":"J Vasconcelos","year":"2010","unstructured":"Vasconcelos, J., Cunha, R., Silvestre, C., Oliveira, P.: A nonlinear position and attitude observer on SE(3) using landmark measurements. Syst. Control Lett. 59(3\u20134), 155\u2013166 (2010)","journal-title":"Syst. Control Lett."},{"key":"9_CR142","unstructured":"Veltink, P.H., Luinge, H.J., Kooi, B.J., Baten, C.T.M., Slycke, P.: The artificial vestibular system\u2014design of a tri-axial inertial sensor system and its application in the study of human movement. In: Proceedings of the International Society for Postural and Gait Research, number\u00a01 (2001)"},{"key":"9_CR143","doi-asserted-by":"crossref","unstructured":"Vukobratovic, M., Juricic, D.: Contribution to the synthesis of biped gait. IEEE Trans. Biomed. Eng. BME-16(1), 1\u20136 (1969)","DOI":"10.1109\/TBME.1969.4502596"},{"issue":"6","key":"9_CR144","doi-asserted-by":"publisher","first-page":"24","DOI":"10.1109\/MCG.2002.1046626","volume":"22","author":"G Welch","year":"2002","unstructured":"Welch, G., Foxlin, E.: Motion tracking: no silver bullet, but a respectable arsenal. IEEE Comput. Graph. Appl. 22(6), 24\u201338 (2002)","journal-title":"IEEE Comput. Graph. Appl."},{"issue":"4","key":"9_CR145","doi-asserted-by":"publisher","first-page":"193","DOI":"10.1016\/0966-6362(96)82849-9","volume":"3","author":"D Winter","year":"1995","unstructured":"Winter, D.: Human balance and posture control during standing and walking. Gait Posture 3(4), 193\u2013214 (1995)","journal-title":"Gait Posture"},{"issue":"3","key":"9_CR146","doi-asserted-by":"publisher","first-page":"1211","DOI":"10.1152\/jn.1998.80.3.1211","volume":"80","author":"DA Winter","year":"1998","unstructured":"Winter, D.A., Patla, A.E., Prince, F., Ishac, M., Gielo-Perczak, K.: Stiffness control of balance in quiet standing. J. Neurophysiol. 80(3), 1211\u20131221 (1998)","journal-title":"J. Neurophysiol."},{"key":"9_CR147","doi-asserted-by":"crossref","unstructured":"Wongsuwarn, H., Laowattana, D.: Experimental study for a FIBO humanoid robot. In: IEEE Conference on Robotics, Automation and Mechatronics (2006)","DOI":"10.1109\/RAMECH.2006.252690"},{"issue":"2","key":"9_CR148","doi-asserted-by":"publisher","first-page":"763","DOI":"10.1152\/jn.90256.2008","volume":"100","author":"Y Xiang","year":"2008","unstructured":"Xiang, Y., Yakushin, S.B., Kunin, M., Raphan, T., Cohen, B.: Head stabilization by vestibulocollic reflexes during quadrupedal locomotion in monkey. J. Neurophysiol. 100(2), 763\u201380 (2008)","journal-title":"J. Neurophysiol."},{"issue":"9","key":"9_CR149","doi-asserted-by":"publisher","first-page":"2247","DOI":"10.1161\/01.STR.0000027212.26686.48","volume":"33","author":"AP Yelnik","year":"2002","unstructured":"Yelnik, A.P.: Perception of verticality after recent cerebral hemispheric stroke. Stroke 33(9), 2247\u20132253 (2002)","journal-title":"Stroke"},{"key":"9_CR150","doi-asserted-by":"crossref","unstructured":"Yotter, R., Baxter, R., Ohno, S., Hawley, S., Wilson, D.: On a micromachined fluidic inclinometer. In: TRANSDUCERS \u201903. 12th International Conference on Solid-State Sensors, Actuators and Microsystems, vol. 2, pp. 1279\u20131282. IEEE (2003)","DOI":"10.1109\/SENSOR.2003.1217006"},{"issue":"4","key":"9_CR151","doi-asserted-by":"publisher","first-page":"2001","DOI":"10.1152\/jn.2000.84.4.2001","volume":"84","author":"LH Zupan","year":"2000","unstructured":"Zupan, L.H., Peterka, R.J., Merfeld, D.M.: Neural processing of gravito-inertial cues in humans. i. Influence of the semicircular canals following post-rotatory tilt. J. Neurophysiol. 84(4), 2001\u20132015 (2000)","journal-title":"J. Neurophysiol."}],"container-title":["Springer Tracts in Advanced Robotics","Biomechanics of Anthropomorphic Systems"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/link.springer.com\/content\/pdf\/10.1007\/978-3-319-93870-7_9","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,6]],"date-time":"2025-07-06T04:40:25Z","timestamp":1751776825000},"score":1,"resource":{"primary":{"URL":"http:\/\/link.springer.com\/10.1007\/978-3-319-93870-7_9"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,8,2]]},"ISBN":["9783319938691","9783319938707"],"references-count":151,"URL":"https:\/\/doi.org\/10.1007\/978-3-319-93870-7_9","relation":{},"ISSN":["1610-7438","1610-742X"],"issn-type":[{"value":"1610-7438","type":"print"},{"value":"1610-742X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2018,8,2]]},"assertion":[{"value":"2 August 2018","order":1,"name":"first_online","label":"First Online","group":{"name":"ChapterHistory","label":"Chapter History"}}]}}