{"id":"https://openalex.org/W7134815218","doi":"https://doi.org/10.48550/arxiv.2603.06928","title":"Failure Mechanisms and Risk Estimation for Legged Robot Locomotion on Granular Slopes","display_name":"Failure Mechanisms and Risk Estimation for Legged Robot Locomotion on Granular Slopes","publication_year":2026,"publication_date":"2026-03-06","ids":{"openalex":"https://openalex.org/W7134815218","doi":"https://doi.org/10.48550/arxiv.2603.06928"},"language":null,"primary_location":{"id":"pmh:doi:10.48550/arxiv.2603.06928","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":null,"any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5128667665","display_name":"Xingjue Liao","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Liao, Xingjue","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5067936185","display_name":"Feifei Qian","orcid":"https://orcid.org/0000-0001-9656-1168"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Qian, Feifei","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":2,"corresponding_author_ids":["https://openalex.org/A5128667665"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9480000138282776,"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":0.9480000138282776,"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/T10868","display_name":"Soft Robotics and Applications","score":0.028999999165534973,"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/T11978","display_name":"Soil Mechanics and Vehicle Dynamics","score":0.006300000008195639,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/legged-robot","display_name":"Legged robot","score":0.6277999877929688},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.6067000031471252},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.53329998254776},{"id":"https://openalex.org/keywords/slip","display_name":"Slip (aerodynamics)","score":0.4629000127315521},{"id":"https://openalex.org/keywords/granular-material","display_name":"Granular material","score":0.4417000114917755},{"id":"https://openalex.org/keywords/anchoring","display_name":"Anchoring","score":0.39259999990463257},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.38929998874664307}],"concepts":[{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.6277999877929688},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.6067000031471252},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.53329998254776},{"id":"https://openalex.org/C195268267","wikidata":"https://www.wikidata.org/wiki/Q1928883","display_name":"Slip (aerodynamics)","level":2,"score":0.4629000127315521},{"id":"https://openalex.org/C32568104","wikidata":"https://www.wikidata.org/wiki/Q1155083","display_name":"Granular material","level":2,"score":0.4417000114917755},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4357999861240387},{"id":"https://openalex.org/C18483071","wikidata":"https://www.wikidata.org/wiki/Q168432","display_name":"Anchoring","level":2,"score":0.39259999990463257},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.38929998874664307},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.376800000667572},{"id":"https://openalex.org/C96035792","wikidata":"https://www.wikidata.org/wiki/Q43606218","display_name":"Shear (geology)","level":2,"score":0.3741999864578247},{"id":"https://openalex.org/C6899612","wikidata":"https://www.wikidata.org/wiki/Q852911","display_name":"Resistive touchscreen","level":2,"score":0.3402000069618225},{"id":"https://openalex.org/C63479239","wikidata":"https://www.wikidata.org/wiki/Q7353546","display_name":"Robustness (evolution)","level":3,"score":0.32339999079704285},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.3037000000476837},{"id":"https://openalex.org/C187320778","wikidata":"https://www.wikidata.org/wiki/Q1349130","display_name":"Geotechnical engineering","level":1,"score":0.28790000081062317},{"id":"https://openalex.org/C127893833","wikidata":"https://www.wikidata.org/wiki/Q7492185","display_name":"Shear strength (soil)","level":3,"score":0.27390000224113464},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.27149999141693115},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2678000032901764},{"id":"https://openalex.org/C57879066","wikidata":"https://www.wikidata.org/wiki/Q41217","display_name":"Mechanics","level":1,"score":0.2612999975681305},{"id":"https://openalex.org/C2780009758","wikidata":"https://www.wikidata.org/wiki/Q6804172","display_name":"Measure (data warehouse)","level":2,"score":0.2612000107765198}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:doi:10.48550/arxiv.2603.06928","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},{"id":"doi:10.48550/arxiv.2603.06928","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.06928","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"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"}],"best_oa_location":{"id":"pmh:doi:10.48550/arxiv.2603.06928","is_oa":true,"landing_page_url":null,"pdf_url":null,"source":{"id":"https://openalex.org/S4406922384","display_name":"Open MIND","issn_l":null,"issn":null,"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":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Locomotion":[0],"on":[1,31,143,166],"granular":[2,25,34,47,144],"slopes":[3],"such":[4],"as":[5,63,88],"sand":[6],"dunes":[7],"remains":[8,54],"a":[9,28,32,73],"fundamental":[10],"challenge":[11],"for":[12,141,159],"legged":[13],"robots":[14],"due":[15],"to":[16,121],"reduced":[17],"shear":[18,46,59],"strength":[19,92],"and":[20,45,84,93,109,133,156,161],"gravity-induced":[21],"anisotropic":[22],"yielding":[23],"of":[24,90],"media.":[26],"Using":[27],"hexapedal":[29],"robot":[30,86,164],"tiltable":[33],"bed,":[35],"we":[36,71,125],"systematically":[37],"measure":[38],"locomotion":[39,142],"speed":[40],"together":[41],"with":[42,57],"slope-dependent":[43],"normal":[44,51],"resistive":[48],"forces.":[49],"While":[50],"penetration":[52],"resistance":[53,60],"nearly":[55],"unchanged":[56],"inclination,":[58],"decreases":[61],"substantially":[62],"slope":[64,94],"angle":[65],"increases.":[66],"Guided":[67],"by":[68,106],"these":[69],"measurements,":[70],"develop":[72],"simple":[74],"robot-terrain":[75],"interaction":[76],"model":[77,97,120],"that":[78,99,130],"predicts":[79],"anchoring":[80,108],"timing,":[81],"step":[82],"length,":[83],"resulting":[85],"speed,":[87],"functions":[89],"terrain":[91,123],"angle.":[95],"The":[96],"reveals":[98],"slope-induced":[100],"performance":[101],"loss":[102],"is":[103],"primarily":[104],"governed":[105],"delayed":[107],"increased":[110],"backward":[111],"slip":[112],"rather":[113],"than":[114],"excessive":[115],"sinkage.":[116],"By":[117],"extending":[118],"the":[119],"generalized":[122],"conditions,":[124],"construct":[126],"failure":[127,135,154],"phase":[128],"diagrams":[129],"identify":[131],"sinkage-":[132],"slippage-induced":[134],"regimes,":[136],"enabling":[137],"quantitative":[138],"risk":[139],"estimation":[140],"slopes.":[145],"This":[146],"physics-informed":[147],"framework":[148],"provides":[149],"predictive":[150],"insight":[151],"into":[152],"terrain-dependent":[153],"mechanisms":[155],"offers":[157],"guidance":[158],"safer":[160],"more":[162],"robust":[163],"operation":[165],"deformable":[167],"inclines.":[168]},"counts_by_year":[],"updated_date":"2026-04-04T16:13:02.066488","created_date":"2026-03-11T00:00:00"}
