{"id":"https://openalex.org/W4407449786","doi":"https://doi.org/10.1109/lra.2025.3541428","title":"Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients","display_name":"Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients","publication_year":2025,"publication_date":"2025-02-13","ids":{"openalex":"https://openalex.org/W4407449786","doi":"https://doi.org/10.1109/lra.2025.3541428"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3541428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3541428","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":["arxiv","crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2502.16843","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5003168385","display_name":"Hajun Kim","orcid":"https://orcid.org/0009-0002-9430-7830"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":true,"raw_author_name":"Hajun Kim","raw_affiliation_strings":["Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081849514","display_name":"Dongyun Kang","orcid":null},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Dongyun Kang","raw_affiliation_strings":["Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0009-0002-3922-4063","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":null,"display_name":"Min-Gyu Kim","orcid":"https://orcid.org/0000-0003-3693-0712"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Min-Gyu Kim","raw_affiliation_strings":["Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0003-3693-0712","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5055437860","display_name":"Gijeong Kim","orcid":"https://orcid.org/0000-0002-3147-7317"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Gijeong Kim","raw_affiliation_strings":["Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5090151532","display_name":"Hae-Won Park","orcid":"https://orcid.org/0000-0001-6130-6589"},"institutions":[{"id":"https://openalex.org/I157485424","display_name":"Korea Advanced Institute of Science and Technology","ror":"https://ror.org/05apxxy63","country_code":"KR","type":"education","lineage":["https://openalex.org/I157485424"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Hae-Won Park","raw_affiliation_strings":["Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea"],"raw_orcid":"https://orcid.org/0000-0001-6130-6589","affiliations":[{"raw_affiliation_string":"Humanoid Robot Research Center, School of Mechanical, Aerospace and Systems Engineering, Department of Mechanical Engineering, Korea Advanced Institute of Science and Technology, Daejeon, South Korea","institution_ids":["https://openalex.org/I157485424"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5003168385"],"corresponding_institution_ids":["https://openalex.org/I157485424"],"apc_list":null,"apc_paid":null,"fwci":5.4994,"has_fulltext":false,"cited_by_count":5,"citation_normalized_percentile":{"value":0.95239216,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":98},"biblio":{"volume":"10","issue":"4","first_page":"3150","last_page":"3157"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10653","display_name":"Robot Manipulation and Learning","score":0.9994999766349792,"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":0.9994999766349792,"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/T10879","display_name":"Robotic Locomotion and Control","score":0.9994999766349792,"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/T11799","display_name":"Adhesion, Friction, and Surface Interactions","score":0.9968000054359436,"subfield":{"id":"https://openalex.org/subfields/2211","display_name":"Mechanics of Materials"},"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":0.7175158262252808},{"id":"https://openalex.org/keywords/friction-coefficient","display_name":"Friction coefficient","score":0.6635096669197083},{"id":"https://openalex.org/keywords/coefficient-of-friction","display_name":"Coefficient of friction","score":0.49747970700263977},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.479816198348999},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.458798348903656},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.386926531791687},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.24832051992416382},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.13643977046012878},{"id":"https://openalex.org/keywords/composite-material","display_name":"Composite material","score":0.10430854558944702},{"id":"https://openalex.org/keywords/biology","display_name":"Biology","score":0.0852724015712738},{"id":"https://openalex.org/keywords/cartography","display_name":"Cartography","score":0.06694844365119934},{"id":"https://openalex.org/keywords/ecology","display_name":"Ecology","score":0.0632232129573822}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7175158262252808},{"id":"https://openalex.org/C2989152160","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Friction coefficient","level":2,"score":0.6635096669197083},{"id":"https://openalex.org/C2987692278","wikidata":"https://www.wikidata.org/wiki/Q82580","display_name":"Coefficient of friction","level":2,"score":0.49747970700263977},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.479816198348999},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.458798348903656},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.386926531791687},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.24832051992416382},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.13643977046012878},{"id":"https://openalex.org/C159985019","wikidata":"https://www.wikidata.org/wiki/Q181790","display_name":"Composite material","level":1,"score":0.10430854558944702},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0852724015712738},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.06694844365119934},{"id":"https://openalex.org/C18903297","wikidata":"https://www.wikidata.org/wiki/Q7150","display_name":"Ecology","level":1,"score":0.0632232129573822}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/lra.2025.3541428","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3541428","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:arXiv.org:2502.16843","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.16843","pdf_url":"https://arxiv.org/pdf/2502.16843","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2502.16843","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2502.16843","pdf_url":"https://arxiv.org/pdf/2502.16843","source":{"id":"https://openalex.org/S4393918464","display_name":"ArXiv.org","issn_l":"2331-8422","issn":["2331-8422"],"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":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[{"display_name":"Climate action","score":0.7300000190734863,"id":"https://metadata.un.org/sdg/13"}],"awards":[],"funders":[{"id":"https://openalex.org/F4320334879","display_name":"Korea Evaluation Institute of Industrial Technology","ror":"https://ror.org/03z9cwa38"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":28,"referenced_works":["https://openalex.org/W2067583999","https://openalex.org/W2085778865","https://openalex.org/W2158782408","https://openalex.org/W2736557071","https://openalex.org/W2779458783","https://openalex.org/W2891122218","https://openalex.org/W2963465704","https://openalex.org/W2963614114","https://openalex.org/W3022072906","https://openalex.org/W3093922502","https://openalex.org/W3104876774","https://openalex.org/W3130162259","https://openalex.org/W3135508935","https://openalex.org/W3173446233","https://openalex.org/W3201707474","https://openalex.org/W3202328163","https://openalex.org/W4285102619","https://openalex.org/W4311414408","https://openalex.org/W4312458800","https://openalex.org/W4386025948","https://openalex.org/W4387682164","https://openalex.org/W4388096643","https://openalex.org/W4391554688","https://openalex.org/W4401041654","https://openalex.org/W4401692710","https://openalex.org/W4403035129","https://openalex.org/W6789176326","https://openalex.org/W6790411549"],"related_works":["https://openalex.org/W78052952","https://openalex.org/W1991573087","https://openalex.org/W3180528075","https://openalex.org/W2363147262","https://openalex.org/W2095008141","https://openalex.org/W2360867017","https://openalex.org/W2366948687","https://openalex.org/W4256666245","https://openalex.org/W4323785554","https://openalex.org/W1982329733"],"abstract_inverted_index":{"This":[0],"letter":[1],"proposes":[2],"an":[3],"online":[4],"friction":[5,35,95,131],"coefficient":[6,36,96,132],"identification":[7,97,133],"framework":[8,45,126],"for":[9,98],"legged":[10,99],"robots":[11],"on":[12,117],"slippery":[13,118],"terrain.":[14,121],"The":[15],"approach":[16],"formulates":[17],"the":[18,23,34,43,47,57,65,72,79,103,108],"optimization":[19],"problem":[20],"to":[21,63,82],"minimize":[22],"sum":[24],"of":[25,51,60,67],"residuals":[26],"between":[27],"actual":[28],"and":[29,119,129],"predicted":[30],"states":[31],"parameterized":[32],"by":[33,55],"in":[37],"rigid":[38],"body":[39],"contact":[40,52,74,89,92],"dynamics.":[41,75],"Notably,":[42],"proposed":[44,104],"leverages":[46],"analytic":[48],"smoothed":[49],"gradient":[50],"impulses,":[53],"obtained":[54],"smoothing":[56],"complementarity":[58],"condition":[59],"Coulomb":[61],"friction,":[62],"solve":[64],"issue":[66],"non-informative":[68],"gradients":[69],"induced":[70],"from":[71],"nonsmooth":[73],"Moreover,":[76],"we":[77,106],"introduce":[78],"rejection":[80],"method":[81],"filter":[83],"out":[84],"data":[85],"with":[86],"high":[87],"normal":[88],"velocity":[90],"following":[91],"initiations":[93],"during":[94],"robots.":[100],"To":[101],"validate":[102],"framework,":[105],"conduct":[107],"experiments":[109],"using":[110],"a":[111],"quadrupedal":[112],"robot":[113],"platform,":[114],"KAIST":[115],"HOUND,":[116],"nonslippery":[120],"We":[122],"observe":[123],"that":[124],"our":[125],"achieves":[127],"fast":[128],"consistent":[130],"within":[134],"various":[135],"initial":[136],"conditions.":[137]},"counts_by_year":[{"year":2026,"cited_by_count":1},{"year":2025,"cited_by_count":4}],"updated_date":"2025-12-23T23:11:35.936235","created_date":"2025-10-10T00:00:00"}