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Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients

24 February 2025
Hajun Kim
Dongyun Kang
Min-Gyu Kim
Gijeong Kim
Hae-Won Park
ArXiv (abs)PDFHTML

Papers citing "Online Friction Coefficient Identification for Legged Robots on Slippery Terrain Using Smoothed Contact Gradients"

14 / 14 papers shown
Title
Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning
Efficient Navigation Among Movable Obstacles using a Mobile Manipulator via Hierarchical Policy Learning
Taegeun Yang
Jiwoo Hwang
Jeil Jeong
Minsung Yoon
Sung-Eui Yoon
46
0
0
18 Jun 2025
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study
Learning Impact-Rich Rotational Maneuvers via Centroidal Velocity Rewards and Sim-to-Real Techniques: A One-Leg Hopper Flip Case Study
Dongyun Kang
Gijeong Kim
JongHun Choe
Hajun Kim
Hae-Won Park
136
1
0
18 May 2025
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without
  Pre-Planned Contact Modes or Trajectories
Contact-Implicit MPC: Controlling Diverse Quadruped Motions Without Pre-Planned Contact Modes or Trajectories
Gijeong Kim
Dong-Kyun Kang
Joon-ha Kim
Seungwoo Hong
Hae-Won Park
102
5
0
14 Dec 2023
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical
  Systems
Saltation Matrices: The Essential Tool for Linearizing Hybrid Dynamical Systems
Nathan J. Kong
J. Joe Payne
James Zhu
Aaron M. Johnson
94
17
0
12 Jun 2023
Contact Models in Robotics: a Comparative Analysis
Contact Models in Robotics: a Comparative Analysis
Quentin Le Lidec
Wilson Jallet
Louis Montaut
Ivan Laptev
Cordelia Schmid
Justin Carpentier
100
29
0
13 Apr 2023
Optimization-Based Control for Dynamic Legged Robots
Optimization-Based Control for Dynamic Legged Robots
Patrick M. Wensing
Michael Posa
Yue Hu
Adrien Escande
Nicolas Mansard
Andrea Del Prete
106
149
0
21 Nov 2022
Global Planning for Contact-Rich Manipulation via Local Smoothing of
  Quasi-dynamic Contact Models
Global Planning for Contact-Rich Manipulation via Local Smoothing of Quasi-dynamic Contact Models
Tao Pang
H.J. Terry Suh
Lujie Yang
Russ Tedrake
142
106
0
22 Jun 2022
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth
  Dynamical Systems
Leveraging Randomized Smoothing for Optimal Control of Nonsmooth Dynamical Systems
Quentin Le Lidec
Fabian Schramm
Louis Montaut
Cordelia Schmid
Ivan Laptev
Justin Carpentier
108
24
0
08 Mar 2022
Real-time Model Predictive Control and System Identification Using
  Differentiable Physics Simulation
Real-time Model Predictive Control and System Identification Using Differentiable Physics Simulation
Sirui Chen
Keenon Werling
A. Wu
Chenxi Liu
92
6
0
20 Feb 2022
Validating Robotics Simulators on Real-World Impacts
Validating Robotics Simulators on Real-World Impacts
Brian Acosta
William Yang
Michael Posa
123
33
0
01 Oct 2021
Fast Contact-Implicit Model-Predictive Control
Fast Contact-Implicit Model-Predictive Control
Simon Le Cleac'h
Taylor A. Howell
Shuo Yang
Chia-Yen Lee
John Z. Zhang
Arun L. Bishop
Mac Schwager
Zachary Manchester
186
85
0
12 Jul 2021
gradSim: Differentiable simulation for system identification and
  visuomotor control
gradSim: Differentiable simulation for system identification and visuomotor control
Krishna Murthy Jatavallabhula
Miles Macklin
Florian Golemo
Vikram S. Voleti
Petrini
...
Erleben
Liam Paull
Florian Shkurti
Derek Nowrouzezahrai
Sanja Fidler
54
104
0
06 Apr 2021
Learning Quadrupedal Locomotion over Challenging Terrain
Learning Quadrupedal Locomotion over Challenging Terrain
Joonho Lee
Jemin Hwangbo
Lorenz Wellhausen
V. Koltun
Marco Hutter
164
1,182
0
21 Oct 2020
Preparing for the Unknown: Learning a Universal Policy with Online
  System Identification
Preparing for the Unknown: Learning a Universal Policy with Online System Identification
Wenhao Yu
Jie Tan
Chenxi Liu
Greg Turk
OffRL
108
309
0
08 Feb 2017
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