{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,26]],"date-time":"2026-02-26T15:35:43Z","timestamp":1772120143071,"version":"3.50.1"},"reference-count":34,"publisher":"Springer Science and Business Media LLC","issue":"2","license":[{"start":{"date-parts":[[2024,12,14]],"date-time":"2024-12-14T00:00:00Z","timestamp":1734134400000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"},{"start":{"date-parts":[[2024,12,14]],"date-time":"2024-12-14T00:00:00Z","timestamp":1734134400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/www.springernature.com\/gp\/researchers\/text-and-data-mining"}],"content-domain":{"domain":["link.springer.com"],"crossmark-restriction":false},"short-container-title":["Int J Intell Robot Appl"],"published-print":{"date-parts":[[2025,6]]},"DOI":"10.1007\/s41315-024-00410-6","type":"journal-article","created":{"date-parts":[[2024,12,14]],"date-time":"2024-12-14T02:00:34Z","timestamp":1734141634000},"page":"673-682","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":1,"title":["ANN-UKF-based estimator for landing forces in quadruped robots"],"prefix":"10.1007","volume":"9","author":[{"given":"Ba-Phuc","family":"Huynh","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Joonbum","family":"Bae","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2024,12,14]]},"reference":[{"key":"410_CR1","volume-title":"Artificial Neural Networks for Engineering Applications","author":"AY Alanis","year":"2019","unstructured":"Alanis, A.Y., Arana-Daniel, N., L\u00f3pez-Franco, C.: Artificial Neural Networks for Engineering Applications, 1st edn. Academic Press (2019)","edition":"1"},{"issue":"1","key":"410_CR2","doi-asserted-by":"publisher","first-page":"58","DOI":"10.1109\/LGRS.2020.2964300","volume":"18","author":"K Ansari","year":"2021","unstructured":"Ansari, K.: Real-time positioning based on Kalman filter and implication of singular spectrum analysis. IEEE Geosci. Remote Sens. Lett. 18(1), 58\u201361 (2021)","journal-title":"IEEE Geosci. Remote Sens. Lett."},{"key":"410_CR3","doi-asserted-by":"publisher","first-page":"39","DOI":"10.3389\/fnbot.2017.00039","volume":"11","author":"S Aoi","year":"2017","unstructured":"Aoi, S., Manoonpong, P., Ambe, Y., Matsuno, F., W\u00f6rg\u00f6tter, F.: Adaptive control strategies for interlimb coordination in legged robots: a review. Front. Neurorobot. 11, 39 (2017)","journal-title":"Front. Neurorobot."},{"key":"410_CR4","doi-asserted-by":"crossref","unstructured":"Cai, P., Liu, D., Zhu, L.: Predefined-Time External Force Estimation for Legged Robots. In: International Conference on Intelligent Robotics and Applications. ICIRA 2023: 14271 (2023)","DOI":"10.1007\/978-981-99-6495-6_46"},{"issue":"3","key":"410_CR5","doi-asserted-by":"publisher","first-page":"3013","DOI":"10.1109\/LRA.2019.2923967","volume":"4","author":"J Carius","year":"2019","unstructured":"Carius, J., Ranft, R., Koltun, V., Hutter, M.: Trajectory optimization for legged robots with slipping motions. IEEE Robot. Autom. Lett. 4(3), 3013\u20133020 (2019)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"410_CR6","doi-asserted-by":"publisher","first-page":"231","DOI":"10.1007\/s43154-021-00059-0","volume":"2","author":"J Carpentier","year":"2021","unstructured":"Carpentier, J., Wieber, P.B.: Recent progress in legged robots locomotion control. Curr. Robot. Reports 2, 231\u2013238 (2021)","journal-title":"Curr. Robot. Reports"},{"key":"410_CR7","doi-asserted-by":"publisher","first-page":"161175","DOI":"10.1109\/ACCESS.2020.3021080","volume":"8","author":"Z Cong","year":"2020","unstructured":"Cong, Z., An, H., Wu, C., Lang, L., Wei, Q., Ma, H.: Contact force estimation method of legged-robot and its application in impedance control. IEEE Access 8, 161175\u2013161187 (2020)","journal-title":"IEEE Access"},{"key":"410_CR8","doi-asserted-by":"publisher","first-page":"17866","DOI":"10.1109\/ACCESS.2021.3053492","volume":"9","author":"P \u010c\u017eek","year":"2021","unstructured":"\u010c\u017eek, P., Zoula, M., Faigl, J.: Design, construction, and rough-terrain locomotion control of novel hexapod walking robot with four degrees of freedom per leg. IEEE Access. 9, 17866\u201317881 (2021)","journal-title":"IEEE Access."},{"key":"410_CR9","doi-asserted-by":"publisher","first-page":"212327","DOI":"10.1109\/ACCESS.2020.3040001","volume":"8","author":"S Dutta","year":"2020","unstructured":"Dutta, S., Maiti, T.K., M-Mattausch, M., Ochi, Y., Yorino, N., Mattausch, H.J.: Analysis of sensor-based real-time balancing of humanoid robots on inclined surfaces. IEEE Access 8, 212327\u2013212338 (2020)","journal-title":"IEEE Access"},{"issue":"2","key":"410_CR10","doi-asserted-by":"publisher","first-page":"443","DOI":"10.1109\/TRO.2019.2954670","volume":"36","author":"S Fahmi","year":"2020","unstructured":"Fahmi, S., Focchi, M., Radulescu, A., Fink, G., Barasuol, V., Semini, C.: STANCE: locomotion adaptation over soft terrain. IEEE Trans. Rob. 36(2), 443\u2013457 (2020)","journal-title":"IEEE Trans. Rob."},{"key":"410_CR11","first-page":"15122","volume":"13","author":"X Feng","year":"2023","unstructured":"Feng, X., Liu, S., Yuan, Q., et al.: Research on wheel-legged robot based on LQR and ADRC. Sci. Reports 13, 15122 (2023)","journal-title":"Sci. Reports"},{"key":"410_CR12","doi-asserted-by":"publisher","first-page":"74","DOI":"10.1007\/s10846-021-01345-x","volume":"101","author":"RA Garcia Sampaio","year":"2021","unstructured":"Garcia Sampaio, R.A., e Silva, F.L., de Carvalho, C.D.S., et al.: A rhythmic activation mechanism for soft multi-legged robots. J. Intell. Robot. Syst. 101, 74 (2021)","journal-title":"J. Intell. Robot. Syst."},{"issue":"2","key":"410_CR13","doi-asserted-by":"publisher","first-page":"3650","DOI":"10.1109\/LRA.2020.2976639","volume":"5","author":"F Grimminger","year":"2020","unstructured":"Grimminger, F., Meduri, A., Khadiv, M., Viereck, J., W\u00fcthrich, M., Naveau, M., Berenz, V., Heim, S., Widmaier, F., Flayols, T., Fiene, J., B-Spr\u00f6witz, A., Righetti, L.: An open torque-controlled modular robot architecture for legged locomotion research. IEEE Robot. Autom. Lett. 5(2), 3650\u20133657 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"3","key":"410_CR14","doi-asserted-by":"publisher","first-page":"4766","DOI":"10.1109\/LRA.2021.3068951","volume":"6","author":"B Hammoud","year":"2021","unstructured":"Hammoud, B., Khadiv, M., Righetti, L.: Impedance optimization for uncertain contact interactions through risk sensitive optimal control. IEEE Robot. Autom. Lett. 6(3), 4766\u20134773 (2021)","journal-title":"IEEE Robot. Autom. Lett."},{"key":"410_CR15","unstructured":"Huynh B.-P., Bae J.: Impact Intensity estimation of a quadruped robot without using a force sensor. Preprint at https:\/\/arxiv.org\/abs\/2204.01003 (2022)"},{"key":"410_CR16","doi-asserted-by":"crossref","unstructured":"Ji, S., Wei, T., Li, J.: Study on the Impact Performance of the Joint Cycloid Reducer for Legged Robots. In: International Conference on Intelligent Robotics and Applications, ICIRA 2023, 14270, (2023)","DOI":"10.1007\/978-981-99-6492-5_40"},{"key":"410_CR17","first-page":"182","volume":"3068","author":"SJ Julier","year":"1997","unstructured":"Julier, S.J., Uhlmann, J.K.: New extension of the Kalman filter to nonlinear systems. Proc. SPIE Signal Process. Sens. Fusion Target Recognit. VI 3068, 182\u2013193 (1997)","journal-title":"Proc. SPIE Signal Process. Sens. Fusion Target Recognit. VI"},{"key":"410_CR18","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. Trans ASME J. Basic Eng. 82, 35\u201345 (1960)","journal-title":"Trans ASME J. Basic Eng."},{"issue":"3","key":"410_CR19","doi-asserted-by":"publisher","first-page":"1126","DOI":"10.1109\/JSEN.2019.2947719","volume":"20","author":"JH Kim","year":"2020","unstructured":"Kim, J.H.: Multi-axis force-torque sensors for measuring zero-moment point in humanoid robots: a review. IEEE Sens. J. 20(3), 1126\u20131141 (2020)","journal-title":"IEEE Sens. J."},{"key":"410_CR20","doi-asserted-by":"publisher","first-page":"87173","DOI":"10.1109\/ACCESS.2020.2992695","volume":"8","author":"YE Kim","year":"2020","unstructured":"Kim, Y.E., Kang, H.H., Ahn, C.K.: Two-layer nonlinear FIR filter and unscented Kalman filter fusion with application to mobile robot localization. IEEE Access 8, 87173\u201387183 (2020)","journal-title":"IEEE Access"},{"key":"410_CR21","doi-asserted-by":"publisher","first-page":"978","DOI":"10.1016\/j.automatica.2012.02.014","volume":"48","author":"L Li","year":"2012","unstructured":"Li, L., Xia, Y.: Stochastic Stability of the unscented Kalman filter with intermittent observations. Automatica 48, 978\u2013981 (2012)","journal-title":"Automatica"},{"issue":"4","key":"410_CR22","doi-asserted-by":"publisher","first-page":"1627","DOI":"10.1109\/TASE.2019.2903564","volume":"16","author":"Q Li","year":"2019","unstructured":"Li, Q., Yu, Z., Chen, X., Zhou, Q., Zhang, W., Meng, L., Huang, Q.: Contact force\/torque control based on viscoelastic model for stable bipedal walking on indefinite uneven terrain. IEEE Trans. Autom. Sci. Eng. 16(4), 1627\u20131639 (2019)","journal-title":"IEEE Trans. Autom. Sci. Eng."},{"key":"410_CR23","doi-asserted-by":"publisher","first-page":"185629","DOI":"10.1109\/ACCESS.2020.3030260","volume":"8","author":"J Li","year":"2020","unstructured":"Li, J., Ye, M., Jiao, S., Meng, W., Xu, X.: A novel state estimation approach based on adaptive unscented Kalman filter for electric vehicles. IEEE Access 8, 185629\u2013185637 (2020)","journal-title":"IEEE Access"},{"key":"410_CR24","doi-asserted-by":"publisher","DOI":"10.5772\/61493","volume-title":"Artificial Neural Networks: Models and Applications","author":"JLG Rosa","year":"2016","unstructured":"Rosa, J.L.G.: Artificial Neural Networks: Models and Applications. InTechOpen, London, United Kingdom (2016)"},{"key":"410_CR25","doi-asserted-by":"crossref","unstructured":"Sihite, E., Dangol, P., Ramezani, A.: Unilateral Ground Contact Force Regulations in Thruster-Assisted Legged Locomotion. In: IEEE\/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 389\u2013395 (2021)","DOI":"10.1109\/AIM46487.2021.9517648"},{"issue":"1","key":"410_CR26","doi-asserted-by":"publisher","first-page":"183","DOI":"10.1109\/JOE.2020.2976078","volume":"46","author":"D Sun","year":"2021","unstructured":"Sun, D., Li, X., Cao, Z., Yong, J., Zhang, D., Zhuang, J.: Acoustic robust velocity measurement algorithm based on variational Bayes adaptive Kalman filter. IEEE J. Ocean. Eng. 46(1), 183\u2013194 (2021)","journal-title":"IEEE J. Ocean. Eng."},{"key":"410_CR27","doi-asserted-by":"publisher","first-page":"1432","DOI":"10.1109\/TNSRE.2021.3098062","volume":"29","author":"C Tiseo","year":"2021","unstructured":"Tiseo, C., Merkt, W., Babarahmati, K.K., Wolfslag, W., Havoutis, I., Vijayakumar, S., Mistry, M.: HapFIC: an adaptive force\/position controller for safe environment interaction in articulated systems. IEEE Trans. Neural Syst. Rehabil. Eng. 29, 1432\u20131440 (2021)","journal-title":"IEEE Trans. Neural Syst. Rehabil. Eng."},{"key":"410_CR28","doi-asserted-by":"publisher","first-page":"2233","DOI":"10.1109\/ACCESS.2019.2961740","volume":"8","author":"I Ullah","year":"2020","unstructured":"Ullah, I., Shen, Y., Su, X., Esposito, C., Choi, C.: A localization based on unscented Kalman Filter and particle filter localization algorithms. IEEE Access 8, 2233\u20132246 (2020)","journal-title":"IEEE Access"},{"issue":"2","key":"410_CR29","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.: Quadrupedal locomotion on uneven terrain with sensorized feet. IEEE Robot. Autom. Lett. 5(2), 1548\u20131555 (2020)","journal-title":"IEEE Robot. Autom. Lett."},{"issue":"1","key":"410_CR30","doi-asserted-by":"publisher","first-page":"15","DOI":"10.1109\/TRO.2019.2935336","volume":"36","author":"XA Wu","year":"2020","unstructured":"Wu, X.A., Huh, T.M., Sabin, A., Suresh, S.A., Cutkosky, M.R.: Tactile sensing and terrain-based gait control for small legged robots. IEEE Trans. Rob. 36(1), 15\u201327 (2020)","journal-title":"IEEE Trans. Rob."},{"issue":"9217","key":"410_CR31","first-page":"1","volume":"11","author":"H Xia","year":"2021","unstructured":"Xia, H., Zhang, X., Zhang, H.: A new foot trajectory planning method for legged robots and its application in hexapod robots. Appl. Sci. 11(9217), 1\u201319 (2021)","journal-title":"Appl. Sci."},{"key":"410_CR32","doi-asserted-by":"publisher","first-page":"125899","DOI":"10.1109\/ACCESS.2020.3007881","volume":"8","author":"Z Xu","year":"2020","unstructured":"Xu, Z., Yang, S.X., Gadsden, S.A.: Enhanced bioinspired backstepping control for a mobile robot with unscented Kalman filter. IEEE Access 8, 125899\u2013125908 (2020)","journal-title":"IEEE Access"},{"issue":"10","key":"410_CR33","doi-asserted-by":"publisher","first-page":"6423","DOI":"10.1109\/TII.2020.2964876","volume":"16","author":"R Yildiz","year":"2020","unstructured":"Yildiz, R., Barut, M., Zerdali, E.: A comprehensive comparison of extended and unscented Kalman filters for speed-sensorless control applications of induction motors. IEEE Trans. Industr. Inf. 16(10), 6423\u20136432 (2020)","journal-title":"IEEE Trans. Industr. Inf."},{"issue":"5","key":"410_CR34","doi-asserted-by":"publisher","first-page":"4870","DOI":"10.1109\/TSG.2018.2870327","volume":"10","author":"J Zhao","year":"2019","unstructured":"Zhao, J., Mili, L.: A decentralized H-infinity unscented Kalman filter for dynamic state estimation against uncertainties. IEEE Trans. Smart Grid 10(5), 4870\u20134880 (2019)","journal-title":"IEEE Trans. Smart Grid"}],"container-title":["International Journal of Intelligent Robotics and Applications"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-024-00410-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/article\/10.1007\/s41315-024-00410-6\/fulltext.html","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/link.springer.com\/content\/pdf\/10.1007\/s41315-024-00410-6.pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,6,19]],"date-time":"2025-06-19T04:37:27Z","timestamp":1750307847000},"score":1,"resource":{"primary":{"URL":"https:\/\/link.springer.com\/10.1007\/s41315-024-00410-6"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,12,14]]},"references-count":34,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2025,6]]}},"alternative-id":["410"],"URL":"https:\/\/doi.org\/10.1007\/s41315-024-00410-6","relation":{"has-preprint":[{"id-type":"doi","id":"10.21203\/rs.3.rs-5183842\/v1","asserted-by":"object"}]},"ISSN":["2366-5971","2366-598X"],"issn-type":[{"value":"2366-5971","type":"print"},{"value":"2366-598X","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,12,14]]},"assertion":[{"value":"1 October 2024","order":1,"name":"received","label":"Received","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"27 November 2024","order":2,"name":"accepted","label":"Accepted","group":{"name":"ArticleHistory","label":"Article History"}},{"value":"14 December 2024","order":3,"name":"first_online","label":"First Online","group":{"name":"ArticleHistory","label":"Article History"}},{"order":1,"name":"Ethics","group":{"name":"EthicsHeading","label":"Declarations"}},{"value":"The authors declare no competing interests.","order":2,"name":"Ethics","group":{"name":"EthicsHeading","label":"Conflict of interest"}}]}}