{"id":"https://openalex.org/W2053402094","doi":"https://doi.org/10.1109/icra.2013.6631097","title":"System identification applied to contact modeling: An experimental investigation","display_name":"System identification applied to contact modeling: An experimental investigation","publication_year":2013,"publication_date":"2013-05-01","ids":{"openalex":"https://openalex.org/W2053402094","doi":"https://doi.org/10.1109/icra.2013.6631097","mag":"2053402094"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2013.6631097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5046822567","display_name":"Juan Carlos Ar\u00e9valo","orcid":"https://orcid.org/0000-0003-1994-3095"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":true,"raw_author_name":"Juan Carlos Arevalo","raw_affiliation_strings":["Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101881873","display_name":"Xavier Carrillo","orcid":"https://orcid.org/0000-0003-3503-3999"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Xavier Carrillo","raw_affiliation_strings":["Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5010882939","display_name":"Manuel Cestari","orcid":"https://orcid.org/0000-0002-3311-3461"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Mmanuel Cestari","raw_affiliation_strings":["Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023651892","display_name":"Daniel Sanz\u2010Merodio","orcid":"https://orcid.org/0000-0002-7978-683X"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Daniel Sanz-Merodio","raw_affiliation_strings":["Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5051053355","display_name":"Elena Garc\u00eda","orcid":"https://orcid.org/0000-0001-7349-250X"},"institutions":[{"id":"https://openalex.org/I4210125392","display_name":"Centre for Automation and Robotics","ror":"https://ror.org/02wh02235","country_code":"ES","type":"facility","lineage":["https://openalex.org/I134820265","https://openalex.org/I4210125392","https://openalex.org/I88060688"]}],"countries":["ES"],"is_corresponding":false,"raw_author_name":"Elena Garcia","raw_affiliation_strings":["Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain"],"affiliations":[{"raw_affiliation_string":"Centre for Automation and Robotics-CSIC, UPM, Madrid, Spain","institution_ids":["https://openalex.org/I4210125392"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046822567"],"corresponding_institution_ids":["https://openalex.org/I4210125392"],"apc_list":null,"apc_paid":null,"fwci":1.2601,"has_fulltext":false,"cited_by_count":4,"citation_normalized_percentile":{"value":0.81902223,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":"528","issue":null,"first_page":"3699","last_page":"3706"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10534","display_name":"Structural Health Monitoring Techniques","score":0.9976999759674072,"subfield":{"id":"https://openalex.org/subfields/2205","display_name":"Civil and Structural Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9975000023841858,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9970999956130981,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/adaptability","display_name":"Adaptability","score":0.8898280262947083},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6200807690620422},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.5805898308753967},{"id":"https://openalex.org/keywords/recursive-least-squares-filter","display_name":"Recursive least squares filter","score":0.5654639601707458},{"id":"https://openalex.org/keywords/task","display_name":"Task (project management)","score":0.5250341892242432},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5175873041152954},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.47744494676589966},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.4702918529510498},{"id":"https://openalex.org/keywords/least-squares-function-approximation","display_name":"Least-squares function approximation","score":0.46887779235839844},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4600609838962555},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.43181559443473816},{"id":"https://openalex.org/keywords/algorithm","display_name":"Algorithm","score":0.36856839060783386},{"id":"https://openalex.org/keywords/adaptive-filter","display_name":"Adaptive filter","score":0.3325531780719757},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.21913474798202515},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.20972499251365662},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07419058680534363}],"concepts":[{"id":"https://openalex.org/C177606310","wikidata":"https://www.wikidata.org/wiki/Q5674297","display_name":"Adaptability","level":2,"score":0.8898280262947083},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6200807690620422},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.5805898308753967},{"id":"https://openalex.org/C145249878","wikidata":"https://www.wikidata.org/wiki/Q2835868","display_name":"Recursive least squares filter","level":3,"score":0.5654639601707458},{"id":"https://openalex.org/C2780451532","wikidata":"https://www.wikidata.org/wiki/Q759676","display_name":"Task (project management)","level":2,"score":0.5250341892242432},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5175873041152954},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.47744494676589966},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.4702918529510498},{"id":"https://openalex.org/C9936470","wikidata":"https://www.wikidata.org/wiki/Q6510405","display_name":"Least-squares function approximation","level":3,"score":0.46887779235839844},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4600609838962555},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.43181559443473816},{"id":"https://openalex.org/C11413529","wikidata":"https://www.wikidata.org/wiki/Q8366","display_name":"Algorithm","level":1,"score":0.36856839060783386},{"id":"https://openalex.org/C102248274","wikidata":"https://www.wikidata.org/wiki/Q168388","display_name":"Adaptive filter","level":2,"score":0.3325531780719757},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.21913474798202515},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.20972499251365662},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07419058680534363},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0},{"id":"https://openalex.org/C201995342","wikidata":"https://www.wikidata.org/wiki/Q682496","display_name":"Systems engineering","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra.2013.6631097","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2013.6631097","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2013 IEEE International Conference on Robotics and Automation","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/15","score":0.6399999856948853,"display_name":"Life in Land"}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":21,"referenced_works":["https://openalex.org/W1526120274","https://openalex.org/W1965324089","https://openalex.org/W2002788559","https://openalex.org/W2006368361","https://openalex.org/W2078050156","https://openalex.org/W2084399420","https://openalex.org/W2088192611","https://openalex.org/W2090974678","https://openalex.org/W2126597475","https://openalex.org/W2146906855","https://openalex.org/W2158928443","https://openalex.org/W2160809021","https://openalex.org/W2164991765","https://openalex.org/W2169428176","https://openalex.org/W2169834937","https://openalex.org/W2221321873","https://openalex.org/W2492294785","https://openalex.org/W2502276222","https://openalex.org/W4210762946","https://openalex.org/W4246483956","https://openalex.org/W6641780247"],"related_works":["https://openalex.org/W2081837274","https://openalex.org/W2164852895","https://openalex.org/W2027630946","https://openalex.org/W3119704784","https://openalex.org/W2529395309","https://openalex.org/W4282823030","https://openalex.org/W3134357585","https://openalex.org/W3040496336","https://openalex.org/W2013006297","https://openalex.org/W2144530466"],"abstract_inverted_index":{"Many":[0],"robotics":[1],"applications":[2],"require":[3],"contact":[4,30,41],"with":[5,61],"the":[6,55,62,66,69,78,97,111,118,127],"environment,":[7],"from":[8,40,57],"traditional":[9],"pick":[10],"and":[11,83,102],"place":[12],"task":[13],"to":[14,18,21,27,53,64,71,87,93,109],"legged":[15],"locomotion.":[16],"Nevertheless,":[17],"increase":[19,65],"adaptability":[20,67],"different":[22,58,72,89],"terrains":[23],"it":[24],"is":[25,74],"necessary":[26],"know":[28],"its":[29,85],"properties.":[31,113],"These":[32],"properties":[33,56],"can":[34],"be":[35],"known":[36],"beforehand":[37],"or":[38],"extracted":[39],"forces.":[42],"In":[43],"this":[44],"paper":[45],"a":[46,132],"practical":[47],"evaluation":[48],"using":[49],"adaptive":[50],"filtering":[51],"techniques":[52],"extract":[54],"environmental":[59],"conditions,":[60],"intention":[63],"of":[68,96],"robot":[70],"environments":[73],"presented.":[75],"We":[76],"use":[77],"well-known":[79],"linear":[80],"spring-dashpot":[81],"model":[82],"fit":[84],"parameters":[86],"four":[88],"materials":[90],"in":[91],"order":[92],"establish":[94],"which":[95],"reviewed":[98],"methods":[99],"(the":[100],"recursive":[101,119],"windowed":[103,128],"least":[104,120,129],"squares":[105,121,130],"algorithms)":[106],"perform":[107],"better":[108,123],"describe":[110],"material":[112],"The":[114],"results":[115],"show":[116],"that":[117],"provide":[122],"tracking":[124],"performance":[125],"while":[126],"gives":[131],"smoother":[133],"response.":[134]},"counts_by_year":[{"year":2018,"cited_by_count":1},{"year":2017,"cited_by_count":1},{"year":2016,"cited_by_count":1},{"year":2015,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}
