{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,1,30]],"date-time":"2025-01-30T06:05:54Z","timestamp":1738217154633,"version":"3.34.0"},"reference-count":15,"publisher":"Cambridge University Press (CUP)","issue":"6","license":[{"start":{"date-parts":[[2008,11,1]],"date-time":"2008-11-01T00:00:00Z","timestamp":1225497600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2008,11]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>This paper describes a hybrid approach to a fast and accurate localization method for legged robots based on Fuzzy-Markov (FM) and Extended Kalman Filters (EKF). Both FM and EKF techniques have been used in robot localization and exhibit different characteristics in terms of processing time, convergence, and accuracy. We propose a Fuzzy-Markov\u2013Kalman (FM\u2013EKF) localization method as a combined solution for a poor predictable platform such as Sony Aibo walking robots. The experimental results show the performance of EKF, FM, and FM-EKF in a localization task with simple movements, combined behaviors, and kidnapped situations. An overhead tracking system was adopted to provide a ground truth to verify the performance of the proposed method.<\/jats:p>","DOI":"10.1017\/s0263574708004414","type":"journal-article","created":{"date-parts":[[2008,4,11]],"date-time":"2008-04-11T13:10:36Z","timestamp":1207919436000},"page":"817-830","source":"Crossref","is-referenced-by-count":3,"title":["A hybrid approach to fast and accurate localization for legged robots"],"prefix":"10.1017","volume":"26","author":[{"given":"Renato","family":"Samperio","sequence":"first","affiliation":[]},{"given":"Huosheng","family":"Hu","sequence":"additional","affiliation":[]},{"given":"Francisco","family":"Mart\u00edn","sequence":"additional","affiliation":[]},{"given":"Vicente","family":"Matell\u00e1n","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2008,11,1]]},"reference":[{"key":"S0263574708004414_ref15","doi-asserted-by":"publisher","DOI":"10.1016\/S0004-3702(01)00069-8"},{"key":"S0263574708004414_ref14","doi-asserted-by":"publisher","DOI":"10.1177\/02783640022067922"},{"key":"S0263574708004414_ref12","first-page":"992","volume-title":"Proceeding of IEEE\/RSJ International Conference on Intelligent Robots and Systems","author":"Kristensen","year":"2003"},{"key":"S0263574708004414_ref11","unstructured":"11. Kiriy E. and Buehler M. , \u201cThree-state extended kalman filter for mobile robot localization,\u201d Tech. Rep. TR-CIM 05.07, McGill University, Montreal, Canada, April 2002."},{"key":"S0263574708004414_ref10","first-page":"2531","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Jensfelt","year":"2000"},{"key":"S0263574708004414_ref8","first-page":"295","article-title":"Comparison of localization methods for a robot soccer team","volume":"3","author":"Hatice","year":"2006","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"S0263574708004414_ref7","first-page":"736","article-title":"An Experimental Comparison of Localization Methods","volume":"2","author":"Gutmann","year":"1998","journal-title":"Proceedings of IEEE\/RSJ International Conference on Intelligen Robots and Systems"},{"key":"S0263574708004414_ref5","first-page":"1","volume-title":"Sensor Based Intelligent Robots","author":"Fox","year":"1998"},{"key":"S0263574708004414_ref4","first-page":"343","volume-title":"Proceedings of AAAI\/IAAI","author":"Fox","year":"1999"},{"key":"S0263574708004414_ref6","first-page":"601","volume-title":"International Conference on Pattern Recognition (2)","author":"Gutmann","year":"2002"},{"key":"S0263574708004414_ref3","first-page":"826","volume-title":"Proceedings of 17th National Conference on Artificial Intelligence (AAAI-2000)","author":"Duckett","year":"2000"},{"key":"S0263574708004414_ref2","first-page":"1205","volume-title":"Proceedings of IEEE Intelligent Robots and Systems, IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS)","author":"Buschka","year":"2000"},{"key":"S0263574708004414_ref13","doi-asserted-by":"crossref","unstructured":"13. Tanaka K. , Kimuro Y. , Okada N. and Kondo E. , \u201cGlobal Localization with Detection of Changes in Non-Stationary Environments,\u201d Proceedings of IEEE International Conference on Robotics and Automation (Apr. 26\u2013May 1, 2004) pp. 1487\u20131492.","DOI":"10.1109\/ROBOT.2004.1308034"},{"key":"S0263574708004414_ref1","first-page":"366","volume-title":"Proceedings of IEEE International Conference on Robotics and Automation","author":"Baltzakis","year":"2002"},{"key":"S0263574708004414_ref9","first-page":"110","volume-title":"RoboCup 2004: Robot Soccer World Cup VIII","author":"Herrero-P\u00e9rez","year":"2004"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574708004414","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,29]],"date-time":"2025-01-29T16:42:56Z","timestamp":1738168976000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574708004414\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,11]]},"references-count":15,"journal-issue":{"issue":"6","published-print":{"date-parts":[[2008,11]]}},"alternative-id":["S0263574708004414"],"URL":"https:\/\/doi.org\/10.1017\/s0263574708004414","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"type":"print","value":"0263-5747"},{"type":"electronic","value":"1469-8668"}],"subject":[],"published":{"date-parts":[[2008,11]]}}}