{"id":"https://openalex.org/W2963465704","doi":"https://doi.org/10.1109/lra.2019.2931284","title":"Dynamic Locomotion on Slippery Ground","display_name":"Dynamic Locomotion on Slippery Ground","publication_year":2019,"publication_date":"2019-07-25","ids":{"openalex":"https://openalex.org/W2963465704","doi":"https://doi.org/10.1109/lra.2019.2931284","mag":"2963465704"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2019.2931284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2931284","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://infoscience.epfl.ch/record/271697","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5052487495","display_name":"Fabian Jenelten","orcid":"https://orcid.org/0000-0003-1851-2875"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":true,"raw_author_name":"Fabian Jenelten","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-1851-2875","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5080397455","display_name":"Jemin Hwangbo","orcid":"https://orcid.org/0000-0002-3444-8079"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Jemin Hwangbo","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-3444-8079","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5075445545","display_name":"Fabian Tresoldi","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Fabian Tresoldi","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0001-8101-812X","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5000837610","display_name":"C. Dario Bellicoso","orcid":"https://orcid.org/0000-0003-3856-0735"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"C. Dario Bellicoso","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0003-3856-0735","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5044258783","display_name":"Marco Hutter","orcid":"https://orcid.org/0000-0002-4285-4990"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123994","display_name":"SystemsX.ch","ror":"https://ror.org/02s09gf16","country_code":"CH","type":"facility","lineage":["https://openalex.org/I4210123994"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Marco Hutter","raw_affiliation_strings":["Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland"],"raw_orcid":"https://orcid.org/0000-0002-4285-4990","affiliations":[{"raw_affiliation_string":"Robotic Systems Lab, ETH Zurich, Zurich, Switzerland","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Robotic Systems Lab, ETH-Z\u00fcrich, Z\u00fcrich, Switzerland","institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5052487495"],"corresponding_institution_ids":["https://openalex.org/I35440088","https://openalex.org/I4210123994"],"apc_list":null,"apc_paid":null,"fwci":3.1901,"has_fulltext":false,"cited_by_count":79,"citation_normalized_percentile":{"value":0.92105676,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":90,"max":100},"biblio":{"volume":"4","issue":"4","first_page":"4170","last_page":"4176"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9998000264167786,"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/T11023","display_name":"Prosthetics and Rehabilitation Robotics","score":0.991599977016449,"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/T10784","display_name":"Muscle activation and electromyography studies","score":0.9677000045776367,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6815640926361084},{"id":"https://openalex.org/keywords/slipping","display_name":"Slipping","score":0.6639164686203003},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.6173380613327026},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5901088118553162},{"id":"https://openalex.org/keywords/estimator","display_name":"Estimator","score":0.553993821144104},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.5537315607070923},{"id":"https://openalex.org/keywords/robotics","display_name":"Robotics","score":0.48824790120124817},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.48332902789115906},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.4501297175884247},{"id":"https://openalex.org/keywords/probabilistic-logic","display_name":"Probabilistic logic","score":0.42281460762023926},{"id":"https://openalex.org/keywords/slippery-slope","display_name":"Slippery slope","score":0.41809216141700745},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.352241188287735},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.3351808190345764},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.33000439405441284},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.2018010914325714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.15021824836730957},{"id":"https://openalex.org/keywords/mechanical-engineering","display_name":"Mechanical engineering","score":0.08840247988700867},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.08485853672027588}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6815640926361084},{"id":"https://openalex.org/C2777045574","wikidata":"https://www.wikidata.org/wiki/Q196100","display_name":"Slipping","level":2,"score":0.6639164686203003},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.6173380613327026},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5901088118553162},{"id":"https://openalex.org/C185429906","wikidata":"https://www.wikidata.org/wiki/Q1130160","display_name":"Estimator","level":2,"score":0.553993821144104},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.5537315607070923},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.48824790120124817},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.48332902789115906},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.4501297175884247},{"id":"https://openalex.org/C49937458","wikidata":"https://www.wikidata.org/wiki/Q2599292","display_name":"Probabilistic logic","level":2,"score":0.42281460762023926},{"id":"https://openalex.org/C2779173956","wikidata":"https://www.wikidata.org/wiki/Q876455","display_name":"Slippery slope","level":2,"score":0.41809216141700745},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.352241188287735},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.3351808190345764},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.33000439405441284},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.2018010914325714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.15021824836730957},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.08840247988700867},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.08485853672027588},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":4,"locations":[{"id":"doi:10.1109/lra.2019.2931284","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2019.2931284","pdf_url":null,"source":{"id":"https://openalex.org/S4210169774","display_name":"IEEE Robotics and Automation Letters","issn_l":"2377-3766","issn":["2377-3766"],"is_oa":false,"is_in_doaj":false,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Robotics and Automation Letters","raw_type":"journal-article"},{"id":"pmh:oai:infoscience.epfl.ch:271697","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},{"id":"pmh:oai:www.research-collection.ethz.ch:20.500.11850/355281","is_oa":true,"landing_page_url":"http://hdl.handle.net/20.500.11850/355281","pdf_url":null,"source":{"id":"https://openalex.org/S4306402302","display_name":"Repository for Publications and Research Data (ETH Zurich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I35440088","host_organization_name":"ETH Zurich","host_organization_lineage":["https://openalex.org/I35440088"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Robotics and Automation Letters, 4 (4)","raw_type":"info:eu-repo/semantics/updatedVersion"},{"id":"doi:10.3929/ethz-b-000355281","is_oa":true,"landing_page_url":"https://doi.org/10.3929/ethz-b-000355281","pdf_url":null,"source":{"id":"https://openalex.org/S7407051236","display_name":"ETH Z\u00fcrich Research Collection","issn_l":null,"issn":[],"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article-journal"}],"best_oa_location":{"id":"pmh:oai:infoscience.epfl.ch:271697","is_oa":true,"landing_page_url":"http://infoscience.epfl.ch/record/271697","pdf_url":null,"source":{"id":"https://openalex.org/S4306400487","display_name":"Infoscience (Ecole Polytechnique F\u00e9d\u00e9rale de Lausanne)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-nc-nd","license_id":"https://openalex.org/licenses/cc-by-nc-nd","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"research article"},"sustainable_development_goals":[{"score":0.6800000071525574,"display_name":"Sustainable cities and communities","id":"https://metadata.un.org/sdg/11"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1501088507","https://openalex.org/W1973217766","https://openalex.org/W1974442345","https://openalex.org/W2073288601","https://openalex.org/W2127763473","https://openalex.org/W2131249620","https://openalex.org/W2141004167","https://openalex.org/W2161439626","https://openalex.org/W2294151168","https://openalex.org/W2571115941","https://openalex.org/W2577008596","https://openalex.org/W2736557071","https://openalex.org/W2744484133","https://openalex.org/W2793991136","https://openalex.org/W2889693550","https://openalex.org/W2963996863","https://openalex.org/W4236914428","https://openalex.org/W4241015692","https://openalex.org/W4250058668","https://openalex.org/W6684164338"],"related_works":["https://openalex.org/W2899084033","https://openalex.org/W2263237444","https://openalex.org/W2129963640","https://openalex.org/W2911925666","https://openalex.org/W2365324838","https://openalex.org/W2790992319","https://openalex.org/W2155533714","https://openalex.org/W2980503686","https://openalex.org/W2140238971","https://openalex.org/W2153315991"],"abstract_inverted_index":{"Dynamic":[0],"locomotion":[1],"on":[2,42,71],"unstructured":[3],"and":[4,25,56,86],"uneven":[5],"terrain":[6],"is":[7,65],"a":[8,66,109],"challenging":[9],"task":[10],"in":[11],"legged":[12],"robotics.":[13],"Especially":[14],"when":[15],"it":[16],"comes":[17],"to":[18,62,92,113],"slippery":[19,117],"ground":[20],"conditions,":[21],"common":[22],"state":[23],"estimation":[24],"control":[26,85],"algorithms":[27],"suffer":[28],"from":[29],"the":[30,48,63,76,100],"usual":[31],"no-slip":[32],"assumption.":[33],"In":[34,75],"fact,":[35],"there":[36],"has":[37],"been":[38],"only":[39],"little":[40],"research":[41],"this":[43,80],"subject.":[44],"This":[45],"paper":[46],"addresses":[47],"problem":[49],"of":[50,79,102],"slipping":[51],"by":[52,106],"treating":[53],"slip":[54,68],"detection":[55],"recovery":[57],"tasks":[58],"separately.":[59],"Our":[60],"contribution":[61],"former":[64],"probabilistic":[67],"estimator":[69],"based":[70],"aHidden":[72],"Markov":[73],"Model.":[74],"second":[77],"part":[78],"paper,":[81],"we":[82],"propose":[83],"impedance":[84],"friction":[87],"modulation":[88],"as":[89],"useful":[90],"tools":[91],"recover":[93],"stability":[94],"during":[95],"traction":[96],"loss.":[97],"We":[98],"demonstrate":[99],"success":[101],"our":[103],"estimation/control":[104],"architecture":[105],"enabling":[107],"ANYmal,":[108],"quadrupedal":[110],"torque-controllable":[111],"robot,":[112],"dynamically":[114],"walk":[115],"over":[116],"terrain.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":21},{"year":2024,"cited_by_count":12},{"year":2023,"cited_by_count":13},{"year":2022,"cited_by_count":12},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":8},{"year":2019,"cited_by_count":1}],"updated_date":"2026-03-27T05:58:40.876381","created_date":"2025-10-10T00:00:00"}
