{"id":"https://openalex.org/W4413917243","doi":"https://doi.org/10.1109/icra55743.2025.11128710","title":"Physically-Consistent Parameter Identification of Robots in Contact","display_name":"Physically-Consistent Parameter Identification of Robots in Contact","publication_year":2025,"publication_date":"2025-05-19","ids":{"openalex":"https://openalex.org/W4413917243","doi":"https://doi.org/10.1109/icra55743.2025.11128710"},"language":"en","primary_location":{"id":"doi:10.1109/icra55743.2025.11128710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","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/A5046601607","display_name":"Shahram Khorshidi","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":true,"raw_author_name":"Shahram Khorshidi","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5069650777","display_name":"Murad Dawood","orcid":null},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Murad Dawood","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5114369908","display_name":"Benno Nederkorn","orcid":null},"institutions":[{"id":"https://openalex.org/I4210144102","display_name":"Wuhu Hit Robot Technology Research Institute","ror":"https://ror.org/049w4dp92","country_code":"CN","type":"facility","lineage":["https://openalex.org/I4210144102"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Benno Nederkorn","raw_affiliation_strings":["Roboverse Reply,Munich,Germany"],"affiliations":[{"raw_affiliation_string":"Roboverse Reply,Munich,Germany","institution_ids":["https://openalex.org/I4210144102"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103231515","display_name":"Maren Bennewitz","orcid":"https://orcid.org/0000-0003-4343-3028"},"institutions":[{"id":"https://openalex.org/I135140700","display_name":"University of Bonn","ror":"https://ror.org/041nas322","country_code":"DE","type":"education","lineage":["https://openalex.org/I135140700"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Maren Bennewitz","raw_affiliation_strings":["University of Bonn,Humanoid Robots Lab,Germany"],"affiliations":[{"raw_affiliation_string":"University of Bonn,Humanoid Robots Lab,Germany","institution_ids":["https://openalex.org/I135140700"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5043216529","display_name":"Majid Khadiv","orcid":"https://orcid.org/0000-0001-9889-6543"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Majid Khadiv","raw_affiliation_strings":["Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM),Germany"],"affiliations":[{"raw_affiliation_string":"Munich Institute of Robotics and Machine Intelligence (MIRMI), Technical University of Munich (TUM),Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5046601607"],"corresponding_institution_ids":["https://openalex.org/I135140700"],"apc_list":null,"apc_paid":null,"fwci":1.2604,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.83755187,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":91,"max":95},"biblio":{"volume":null,"issue":null,"first_page":"677","last_page":"683"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9945999979972839,"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"}},"topics":[{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9945999979972839,"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"}},{"id":"https://openalex.org/T10571","display_name":"Robotic Mechanisms and Dynamics","score":0.9714999794960022,"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/identification","display_name":"Identification (biology)","score":0.7779473066329956},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6511527299880981},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5322292447090149},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3620576858520508}],"concepts":[{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.7779473066329956},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6511527299880981},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5322292447090149},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3620576858520508},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/icra55743.2025.11128710","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra55743.2025.11128710","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2025 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G5763673210","display_name":null,"funder_award_id":"964854","funder_id":"https://openalex.org/F4320320300","funder_display_name":"European Commission"}],"funders":[{"id":"https://openalex.org/F4320320300","display_name":"European Commission","ror":"https://ror.org/00k4n6c32"},{"id":"https://openalex.org/F4320321114","display_name":"Bundesministerium f\u00fcr Bildung und Forschung","ror":"https://ror.org/04pz7b180"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W1980450998","https://openalex.org/W2001524797","https://openalex.org/W2063016980","https://openalex.org/W2078856056","https://openalex.org/W2087431993","https://openalex.org/W2094628431","https://openalex.org/W2097687117","https://openalex.org/W2116501050","https://openalex.org/W2130440600","https://openalex.org/W2266380092","https://openalex.org/W2419095482","https://openalex.org/W2539678416","https://openalex.org/W2547850563","https://openalex.org/W2736363424","https://openalex.org/W2789495361","https://openalex.org/W2792628366","https://openalex.org/W2906487027","https://openalex.org/W2962872206","https://openalex.org/W2968213087","https://openalex.org/W2977389550","https://openalex.org/W2991963964","https://openalex.org/W3130657420","https://openalex.org/W3206363598","https://openalex.org/W3210839039","https://openalex.org/W4313639240","https://openalex.org/W4383108391","https://openalex.org/W4387682164","https://openalex.org/W4406779533"],"related_works":["https://openalex.org/W4391375266","https://openalex.org/W2899084033","https://openalex.org/W2748952813","https://openalex.org/W2390279801","https://openalex.org/W4391913857","https://openalex.org/W2358668433","https://openalex.org/W4396701345","https://openalex.org/W2376932109","https://openalex.org/W2001405890","https://openalex.org/W4396696052"],"abstract_inverted_index":{"Accurate":[0],"inertial":[1,21,85],"parameter":[2],"identification":[3,115,138],"is":[4],"crucial":[5],"for":[6],"the":[7,17,95,99,107,114,153,159,167],"simulation":[8],"and":[9,62,112,126,145,156,178],"control":[10],"of":[11,102,158],"robots":[12],"encountering":[13],"intermittent":[14],"contacts":[15],"with":[16],"environment.":[18],"Classically,":[19],"robots'":[20],"parameters":[22,86],"are":[23,29],"obtained":[24],"from":[25,38],"CAD":[26],"models":[27],"that":[28,71,122,147],"not":[30,34,57],"precise":[31],"(and":[32],"sometimes":[33],"available,":[35],"e.g.,":[36],"Spot":[37,168],"Boston":[39],"Dynamics),":[40],"hence":[41],"requiring":[42,88],"identification.":[43],"To":[44],"do":[45],"that,":[46],"existing":[47],"methods":[48],"require":[49],"access":[50],"to":[51,83],"contact":[52,90,103,110],"force":[53,91],"measurement,":[54],"a":[55,118,135,141],"modality":[56,79],"present":[58],"in":[59,80,180],"modern":[60,81],"quadruped":[61,169],"humanoid":[63],"robots.":[64],"This":[65],"paper":[66],"presents":[67],"an":[68],"alternative":[69],"technique":[70],"utilizes":[72],"joint":[73],"current/torque":[74],"measurements":[75],"-a":[76],"standard":[77],"sensing":[78],"robots-":[82],"identify":[84],"without":[87],"direct":[89],"measurements.":[92],"By":[93],"projecting":[94],"whole-body":[96],"dynamics":[97],"into":[98],"null":[100],"space":[101],"constraints,":[104],"we":[105,162],"eliminate":[106],"dependency":[108],"on":[109,166],"forces":[111],"reformulate":[113],"problem":[116],"as":[117],"linear":[119],"matrix":[120],"inequality":[121],"can":[123],"handle":[124],"physical":[125,149],"geometrical":[127],"constraints.":[128],"We":[129],"compare":[130],"our":[131,164],"proposed":[132],"method":[133,139,165],"against":[134],"common":[136],"black-box":[137],"using":[140],"deep":[142],"neural":[143],"network":[144],"show":[146],"incorporating":[148],"consistency":[150],"significantly":[151],"improves":[152],"sample":[154],"efficiency":[155],"generalizability":[157,179],"model.":[160],"Finally,":[161],"validate":[163],"robot":[170],"across":[171],"various":[172],"locomotion":[173],"tasks,":[174],"showcasing":[175],"its":[176],"accuracy":[177],"real-world":[181],"scenarios":[182],"over":[183],"different":[184],"gaits.":[185]},"counts_by_year":[{"year":2025,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}