{"id":"https://openalex.org/W4409102109","doi":"https://doi.org/10.1109/lra.2025.3557308","title":"Effective Data-Driven Joint Friction Modeling and Compensation With Physical Consistency","display_name":"Effective Data-Driven Joint Friction Modeling and Compensation With Physical Consistency","publication_year":2025,"publication_date":"2025-04-02","ids":{"openalex":"https://openalex.org/W4409102109","doi":"https://doi.org/10.1109/lra.2025.3557308"},"language":"en","primary_location":{"id":"doi:10.1109/lra.2025.3557308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3557308","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"],"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/A5108295919","display_name":"Rui Dai","orcid":null},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":true,"raw_author_name":"Rui Dai","raw_affiliation_strings":["Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5103192544","display_name":"Luca Rossini","orcid":"https://orcid.org/0000-0002-2114-3823"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Luca Rossini","raw_affiliation_strings":["Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5016982993","display_name":"Arturo Laurenzi","orcid":"https://orcid.org/0000-0002-9065-1266"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arturo Laurenzi","raw_affiliation_strings":["Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054995151","display_name":"Andrea Patrizi","orcid":"https://orcid.org/0000-0002-5571-3716"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Andrea Patrizi","raw_affiliation_strings":["Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy"],"affiliations":[{"raw_affiliation_string":"Humanoids and Human-Centered Mechatronics Research Line, Istituto Italiano di Tecnologia (IIT), Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":5,"corresponding_author_ids":["https://openalex.org/A5108295919"],"corresponding_institution_ids":["https://openalex.org/I30771326"],"apc_list":null,"apc_paid":null,"fwci":0.0,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":{"value":0.07475368,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":null,"biblio":{"volume":"10","issue":"6","first_page":"5321","last_page":"5328"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12197","display_name":"Brake Systems and Friction Analysis","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T12197","display_name":"Brake Systems and Friction Analysis","score":0.9973000288009644,"subfield":{"id":"https://openalex.org/subfields/2203","display_name":"Automotive 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/T11062","display_name":"Gear and Bearing Dynamics Analysis","score":0.996399998664856,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical 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/T12362","display_name":"Tribology and Wear Analysis","score":0.9951000213623047,"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/consistency","display_name":"Consistency (knowledge bases)","score":0.7166429162025452},{"id":"https://openalex.org/keywords/joint","display_name":"Joint (building)","score":0.7060427665710449},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.6408933401107788},{"id":"https://openalex.org/keywords/data-consistency","display_name":"Data consistency","score":0.46615397930145264},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.4411117136478424},{"id":"https://openalex.org/keywords/data-mining","display_name":"Data mining","score":0.32983362674713135},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.2257380187511444},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.20384851098060608},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.15422490239143372},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.14212024211883545},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.13436630368232727}],"concepts":[{"id":"https://openalex.org/C2776436953","wikidata":"https://www.wikidata.org/wiki/Q5163215","display_name":"Consistency (knowledge bases)","level":2,"score":0.7166429162025452},{"id":"https://openalex.org/C18555067","wikidata":"https://www.wikidata.org/wiki/Q8375051","display_name":"Joint (building)","level":2,"score":0.7060427665710449},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.6408933401107788},{"id":"https://openalex.org/C93361087","wikidata":"https://www.wikidata.org/wiki/Q4426698","display_name":"Data consistency","level":2,"score":0.46615397930145264},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.4411117136478424},{"id":"https://openalex.org/C124101348","wikidata":"https://www.wikidata.org/wiki/Q172491","display_name":"Data mining","level":1,"score":0.32983362674713135},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.2257380187511444},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.20384851098060608},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.15422490239143372},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.14212024211883545},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.13436630368232727},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/lra.2025.3557308","is_oa":false,"landing_page_url":"https://doi.org/10.1109/lra.2025.3557308","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"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/10","display_name":"Reduced inequalities","score":0.5199999809265137}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":29,"referenced_works":["https://openalex.org/W1564897360","https://openalex.org/W1998179438","https://openalex.org/W2068793240","https://openalex.org/W2072575330","https://openalex.org/W2166271005","https://openalex.org/W2524065495","https://openalex.org/W2808816909","https://openalex.org/W2946277373","https://openalex.org/W2967173189","https://openalex.org/W3118559044","https://openalex.org/W3161800049","https://openalex.org/W3169805247","https://openalex.org/W3180485225","https://openalex.org/W3191153382","https://openalex.org/W4206212643","https://openalex.org/W4211049957","https://openalex.org/W4294310841","https://openalex.org/W4312258136","https://openalex.org/W4315488839","https://openalex.org/W4389667667","https://openalex.org/W4391482599","https://openalex.org/W4391958972","https://openalex.org/W4396541267","https://openalex.org/W4399159991","https://openalex.org/W4401416771","https://openalex.org/W6758539823","https://openalex.org/W6763216130","https://openalex.org/W6796174503","https://openalex.org/W6869335072"],"related_works":["https://openalex.org/W2386805970","https://openalex.org/W2308026613","https://openalex.org/W2379416403","https://openalex.org/W2901600492","https://openalex.org/W2165253724","https://openalex.org/W1985571776","https://openalex.org/W2769374332","https://openalex.org/W2943008771","https://openalex.org/W2971748376","https://openalex.org/W2167069786"],"abstract_inverted_index":null,"counts_by_year":[],"updated_date":"2025-11-25T14:43:58.451035","created_date":"2025-10-10T00:00:00"}