{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,23]],"date-time":"2026-04-23T18:26:12Z","timestamp":1776968772531,"version":"3.51.4"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"6","license":[{"start":{"date-parts":[[2021,8,27]],"date-time":"2021-08-27T00:00:00Z","timestamp":1630022400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"},{"start":{"date-parts":[[2021,8,27]],"date-time":"2021-08-27T00:00:00Z","timestamp":1630022400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0"}],"funder":[{"DOI":"10.13039\/100010667","name":"H2020 Industrial Leadership","doi-asserted-by":"publisher","award":["780883"],"award-info":[{"award-number":["780883"]}],"id":[{"id":"10.13039\/100010667","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100000288","name":"The Royal Society","doi-asserted-by":"crossref","id":[{"id":"10.13039\/501100000288","id-type":"DOI","asserted-by":"crossref"}]}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Auton Robot"],"published-print":{"date-parts":[[2021,9]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>Legged robot navigation in extreme environments can hinder the use of cameras and lidar due to darkness, air obfuscation or sensor damage, whereas proprioceptive sensing will continue to work reliably. In this paper, we propose a purely proprioceptive localization algorithm which fuses information from both geometry and terrain type to localize a legged robot within a prior map. First, a terrain classifier computes the probability that a foot has stepped on a particular terrain class from sensed foot forces. Then, a Monte Carlo-based estimator fuses this terrain probability with the geometric information of the foot contact points. Results demonstrate this approach operating online and onboard an ANYmal B300 quadruped robot traversing several terrain courses with different geometries and terrain types over more than 1.2 km. The method keeps pose estimation error below 20 cm using a prior map with trained network and using sensing only from the feet, leg joints and IMU.<\/jats:p>","DOI":"10.1007\/s10514-021-10013-w","type":"journal-article","created":{"date-parts":[[2021,8,27]],"date-time":"2021-08-27T07:04:19Z","timestamp":1630047859000},"page":"843-857","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":20,"title":["Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification"],"prefix":"10.1007","volume":"45","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-9172-5856","authenticated-orcid":false,"given":"Russell","family":"Buchanan","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jakub","family":"Bednarek","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Marco","family":"Camurri","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Micha\u0142 R.","family":"Nowicki","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Krzysztof","family":"Walas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Maurice","family":"Fallon","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2021,8,27]]},"reference":[{"key":"10013_CR1","doi-asserted-by":"publisher","unstructured":"Bednarek, J., Bednarek, M., Kicki, P., & Walas, K. (2019a). Robotic Touch: Classification of materials for manipulation and walking. In IEEE international conference on soft robotics (RoboSoft) (pp. 527\u2013533). https:\/\/doi.org\/10.1109\/ROBOSOFT.2019.8722819","DOI":"10.1109\/ROBOSOFT.2019.8722819"},{"key":"10013_CR2","doi-asserted-by":"publisher","unstructured":"Bednarek, J., Bednarek, M., Wellhausen, L., Hutter, M., & Walas, K. (2019b). What am I touching? Learning to classify terrain via haptic sensing. In IEEE international conference on robotics and automation (ICRA) (pp 7187\u20137193). https:\/\/doi.org\/10.1109\/ICRA.2019.8794478","DOI":"10.1109\/ICRA.2019.8794478"},{"issue":"1","key":"10013_CR3","doi-asserted-by":"publisher","first-page":"573","DOI":"10.1109\/LRA.2017.2776340","volume":"3","author":"M Bloesch","year":"2018","unstructured":"Bloesch, M., Burri, M., Sommer, H., Siegwart, R., & Hutter, M. (2018). The two-state implicit filter recursive estimation for mobile robots. IEEE Robotics and Automation Letters, 3(1), 573\u2013580. https:\/\/doi.org\/10.1109\/LRA.2017.2776340.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10013_CR4","doi-asserted-by":"crossref","unstructured":"Buchanan, R., Camurri, M., & Fallon, M. (2020). Haptic sequential Monte Carlo localization for quadrupedal locomotion in vision-denied scenarios. In IEEE\/RSJ international conference on intelligent robots and systems (IROS)","DOI":"10.1109\/IROS45743.2020.9341128"},{"key":"10013_CR5","doi-asserted-by":"publisher","unstructured":"Chalon, M., Reinecke, J., & Pfanne, M. (2013). Online in-hand object localization. In IEEE\/RSJ international conference on intelligent robots and systems (IROS), IEEE (pp. 2977\u20132984). https:\/\/doi.org\/10.1109\/IROS.2013.6696778","DOI":"10.1109\/IROS.2013.6696778"},{"key":"10013_CR6","doi-asserted-by":"publisher","unstructured":"Chitta, S., Vernaza, P., Geykhman, R., & Lee, D. (2007). Proprioceptive localization for a quadrupedal robot on known terrain. In IEEE international conference on robotics and automation (ICRA) (pp. 4582\u20134587). https:\/\/doi.org\/10.1109\/ROBOT.2007.364185","DOI":"10.1109\/ROBOT.2007.364185"},{"key":"10013_CR7","doi-asserted-by":"publisher","DOI":"10.3115\/v1\/D14-1179","author":"K Cho","year":"2014","unstructured":"Cho, K., van Merrienboer, B., G\u00fcl\u00e7ehre, \u00c7., Bougares, F., Schwenk, H., & Bengio, Y. (2014). Learning phrase representations using RNN encoder-decoder for statistical machine translation. Conference on empirical methods in natural language processing (EMNLP). https:\/\/doi.org\/10.3115\/v1\/D14-1179.","journal-title":"Conference on empirical methods in natural language processing (EMNLP)"},{"key":"10013_CR8","unstructured":"Clevert, D. A., Unterthiner, T., & Hochreiter, S. (2016). Fast and accurate deep network learning by exponential linear units (ELUs). In International conference on learning representations (ICLR). http:\/\/arxiv.org\/abs\/1511.07289"},{"key":"10013_CR9","doi-asserted-by":"publisher","unstructured":"Di Carlo, J., Wensing, P. M., Katz, B., Bledt, G., & Kim, S. (2018). Dynamic locomotion in the MIT Cheetah 3 through convex model-predictive control. In IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 1\u20139). https:\/\/doi.org\/10.1109\/IROS.2018.8594448","DOI":"10.1109\/IROS.2018.8594448"},{"key":"10013_CR10","doi-asserted-by":"publisher","unstructured":"Fankhauser, P., Bjelonic, M., Dario Bellicoso, C., Miki, T., & Hutter, M. (2018). Robust rough-terrain locomotion with a quadrupedal robot. In IEEE international conference on robotics and automation (ICRA) (pp. 1\u20138). https:\/\/doi.org\/10.1109\/ICRA.2018.8460731","DOI":"10.1109\/ICRA.2018.8460731"},{"key":"10013_CR11","doi-asserted-by":"crossref","unstructured":"Fink, G., & Semini, C. (2020). Proprioceptive sensor fusion for quadruped robot state estimation. In IEEE international conference on intelligent robots and systems (IROS)","DOI":"10.1109\/IROS45743.2020.9341521"},{"key":"10013_CR12","doi-asserted-by":"publisher","unstructured":"Focchi, M., Orsolino, R., Camurri, M., Barasuol, V., Mastalli, C., Caldwell, D. G., & Semini, C. (2020). Heuristic planning for rough terrain locomotion in presence of external disturbances and variable perception quality (pp. 165\u2013209). Springer. https:\/\/doi.org\/10.1007\/978-3-030-22327-4_9","DOI":"10.1007\/978-3-030-22327-4_9"},{"issue":"1","key":"10013_CR13","doi-asserted-by":"publisher","first-page":"1","DOI":"10.1109\/TRO.2016.2597321","volume":"33","author":"C Forster","year":"2017","unstructured":"Forster, C., Carlone, L., Dellaert, F., & Scaramuzza, D. (2017). On-manifold preintegration for real-time visual-inertial odometry. IEEE Transactions on Robotics, 33(1), 1\u201321. https:\/\/doi.org\/10.1109\/TRO.2016.2597321.","journal-title":"IEEE Transactions on Robotics"},{"key":"10013_CR14","doi-asserted-by":"publisher","unstructured":"Fox, D., Thrun, S., Burgard, W., & Dellaert, F. (2001). Particle filters for mobile robot localization (pp. 401\u2013428). Springer. https:\/\/doi.org\/10.1007\/978-1-4757-3437-9_19","DOI":"10.1007\/978-1-4757-3437-9_19"},{"issue":"4","key":"10013_CR15","doi-asserted-by":"publisher","first-page":"402","DOI":"10.1177\/0278364919894385","volume":"39","author":"R Hartley","year":"2020","unstructured":"Hartley, R., Ghaffari, M., Eustice, R. M., & Grizzle, J. W. (2020). Contact-aided invariant extended Kalman filtering for robot state estimation. The International Journal of Robotics Research, 39(4), 402\u2013430. https:\/\/doi.org\/10.1177\/0278364919894385.","journal-title":"The International Journal of Robotics Research"},{"key":"10013_CR16","doi-asserted-by":"crossref","unstructured":"He, K., Zhang, X., Ren, S., & Sun, J. (2016). Deep residual learning for image recognition. In IEEE conference on computer vision and pattern recognition (CVPR) (pp. 770\u2013778). http:\/\/arxiv.org\/abs\/1512.03385","DOI":"10.1109\/CVPR.2016.90"},{"key":"10013_CR17","doi-asserted-by":"publisher","unstructured":"Hoepflinger, M. H., Remy, C. D., Hutter, M., & Siegwart, R. (2010). Haptic terrain classification on natural terrains for legged robots. In International conference on climbing and walking robots (CLAWAR) (pp. 785\u2013792). https:\/\/doi.org\/10.1142\/9789814329927_0097","DOI":"10.1142\/9789814329927_0097"},{"key":"10013_CR18","doi-asserted-by":"publisher","unstructured":"Hutter, M., Gehring, C., Jud, D., Lauber, A., Bellicoso, C. D., Tsounis, V., Hwangbo, J., Bodie, K., Fankhauser, P., Bloesch, M., Diethelm, R., Bachmann, S., Melzer, A., & Hoepflinger, M. (2016). ANYmal\u2014A Highly mobile and dynamic quadrupedal robot. In IEEE\/RSJ international conference on intelligent robots and systems (IROS), IEEE (pp. 38\u201344). https:\/\/doi.org\/10.1109\/IROS.2016.7758092","DOI":"10.1109\/IROS.2016.7758092"},{"key":"10013_CR19","unstructured":"Ioffe, S., & Szegedy, C. (2015). Batch normalization: Accelerating deep network training by reducing internal covariate shift. In Proceedings of machine learning research (Vol. 37, pp. 448\u2013456). Lille, France: PMLR."},{"issue":"2","key":"10013_CR20","doi-asserted-by":"publisher","first-page":"1626","DOI":"10.1109\/LRA.2019.2896732","volume":"4","author":"H Kolvenbach","year":"2019","unstructured":"Kolvenbach, H., B\u00e4rtschi, C., Wellhausen, L., Grandia, R., & Hutter, M. (2019). Haptic inspection of planetary soils with legged robots. IEEE Robotics and Automation Letters, 4(2), 1626\u20131632. https:\/\/doi.org\/10.1109\/LRA.2019.2896732.","journal-title":"IEEE Robotics and Automation Letters"},{"key":"10013_CR21","doi-asserted-by":"publisher","first-page":"1314","DOI":"10.1002\/rob.21964","volume":"37","author":"H Kolvenbach","year":"2020","unstructured":"Kolvenbach, H., Wisth, D., Buchanan, R., Valsecchi, G., Grandia, R., Fallon, M., & Hutter, M. (2020). Towards autonomous inspection of concrete deterioration in sewers with legged robots. Journal of Field Robotics, 37, 1314\u20131327. https:\/\/doi.org\/10.1002\/rob.21964.","journal-title":"Journal of Field Robotics"},{"key":"10013_CR22","doi-asserted-by":"publisher","unstructured":"Koval, M. C., Pollard, N. S., & Srinivasa, S. S. (2016). Manifold representations for state estimation in contact manipulation (pp. 375\u2013391). Springer. https:\/\/doi.org\/10.1007\/978-3-319-28872-7_22","DOI":"10.1007\/978-3-319-28872-7_22"},{"key":"10013_CR23","doi-asserted-by":"publisher","unstructured":"Krotkov, E. (1990). Active perception for legged locomotion: Every step is an experiment. In Proceedings of the 5th IEEE international symposium on intelligent control 1990 (Vol. 1, pp. 227\u2013232). https:\/\/doi.org\/10.1109\/ISIC.1990.128462","DOI":"10.1109\/ISIC.1990.128462"},{"key":"10013_CR24","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abc5986","author":"J Lee","year":"2020","unstructured":"Lee, J., Hwangbo, J., Wellhausen, L., Koltun, V., & Hutter, M. (2020). Learning quadrupedal locomotion over challenging terrain. Science Robotics. https:\/\/doi.org\/10.1126\/scirobotics.abc5986.","journal-title":"Science Robotics"},{"key":"10013_CR25","unstructured":"Loshchilov, I., & Hutter, F. (2019). Decoupled weight decay regularization. In International conference on learning representations. http:\/\/arxiv.org\/abs\/1711.05101"},{"key":"10013_CR26","doi-asserted-by":"crossref","unstructured":"Manuelli, L., & Tedrake, R. (2016). Localizing external contact using proprioceptive sensors: The contact particle filter. In IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 5062\u20135069).","DOI":"10.1109\/IROS.2016.7759743"},{"key":"10013_CR27","doi-asserted-by":"crossref","unstructured":"Oleynikova, H., Taylor, Z., Fehr, M., Siegwart, R., & Nieto, J. (2017). Voxblox: Incremental 3d Euclidean signed distance fields for on-board MAV planning. In IEEE\/RSJ international conference on intelligent robots and systems (IROS).","DOI":"10.1109\/IROS.2017.8202315"},{"issue":"2","key":"10013_CR28","doi-asserted-by":"publisher","first-page":"263","DOI":"10.1002\/rob.21489","volume":"31","author":"J Schwendner","year":"2014","unstructured":"Schwendner, J., Joyeux, S., & Kirchner, F. (2014). Using embodied data for localization and mapping. Journal of Field Robotics, 31(2), 263\u2013295. https:\/\/doi.org\/10.1002\/rob.21489.","journal-title":"Journal of Field Robotics"},{"issue":"56","key":"10013_CR29","first-page":"1929","volume":"15","author":"N Srivastava","year":"2014","unstructured":"Srivastava, N., Hinton, G., Krizhevsky, A., Sutskever, I., & Salakhutdinov, R. (2014). Dropout: A simple way to prevent neural networks from overfitting. Journal of Machine Learning Research, 15(56), 1929\u20131958.","journal-title":"Journal of Machine Learning Research"},{"key":"10013_CR30","doi-asserted-by":"publisher","unstructured":"Sturm, J., Engelhard, N., Endres, F., Burgard, W., & Cremers, D. (2012). A Benchmark for the evaluation of RGB-D SLAM systems. In IEEE\/RSJ international conference on intelligent robots and systems (IROS) (pp. 573\u2013580). https:\/\/doi.org\/10.1109\/IROS.2012.6385773","DOI":"10.1109\/IROS.2012.6385773"},{"issue":"2","key":"10013_CR31","doi-asserted-by":"publisher","first-page":"1548","DOI":"10.1109\/LRA.2020.2969160","volume":"5","author":"G Valsecchi","year":"2020","unstructured":"Valsecchi, G., Grandia, R., & Hutter, M. (2020). Quadrupedal locomotion on uneven terrain with sensorized feet. IEEE Robotics and Automation Letters, 5(2), 1548\u20131555. https:\/\/doi.org\/10.1109\/LRA.2020.2969160.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"2","key":"10013_CR32","doi-asserted-by":"publisher","first-page":"1144","DOI":"10.1109\/LRA.2018.2792537","volume":"3","author":"E Vespa","year":"2018","unstructured":"Vespa, E., Nikolov, N., Grimm, M., Nardi, L., Kelly, P. H. J., & Leutenegger, S. (2018). Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping. IEEE Robotics and Automation Letters, 3(2), 1144\u20131151. https:\/\/doi.org\/10.1109\/LRA.2018.2792537.","journal-title":"IEEE Robotics and Automation Letters"},{"issue":"5","key":"10013_CR33","doi-asserted-by":"publisher","first-page":"1139","DOI":"10.1109\/TRO.2017.2707092","volume":"33","author":"G Vezzani","year":"2017","unstructured":"Vezzani, G., Pattacini, U., Battistelli, G., Chisci, L., & Natale, L. (2017). Memory unscented particle filter for 6-DOF tactile localization. IEEE Transactions on Robotics, 33(5), 1139\u20131155. https:\/\/doi.org\/10.1109\/TRO.2017.2707092.","journal-title":"IEEE Transactions on Robotics"},{"issue":"2","key":"10013_CR34","doi-asserted-by":"publisher","first-page":"1509","DOI":"10.1109\/LRA.2019.2895390","volume":"4","author":"L Wellhausen","year":"2019","unstructured":"Wellhausen, L., Dosovitskiy, A., Ranftl, R., Walas, K., Cadena, C., & Hutter, M. (2019). Where should i walk? Predicting terrain properties from images via self-supervised learning. IEEE Robotics and Automation Letters, 4(2), 1509\u20131516. https:\/\/doi.org\/10.1109\/LRA.2019.2895390.","journal-title":"IEEE Robotics and Automation Letters"}],"container-title":["Autonomous Robots"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-021-10013-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s10514-021-10013-w\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s10514-021-10013-w.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2021,9,22]],"date-time":"2021-09-22T09:57:53Z","timestamp":1632304673000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s10514-021-10013-w"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2021,8,27]]},"references-count":34,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2021,9]]}},"alternative-id":["10013"],"URL":"https:\/\/doi.org\/10.1007\/s10514-021-10013-w","relation":{},"ISSN":["0929-5593","1573-7527"],"issn-type":[{"value":"0929-5593","type":"print"},{"value":"1573-7527","type":"electronic"}],"subject":[],"published":{"date-parts":[[2021,8,27]]},"assertion":[{"value":"17 November 2020","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"23 July 2021","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 August 2021","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}}]}}