{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,6]],"date-time":"2026-03-06T21:14:00Z","timestamp":1772831640219,"version":"3.50.1"},"reference-count":27,"publisher":"Cambridge University Press (CUP)","issue":"4","license":[{"start":{"date-parts":[[2024,1,24]],"date-time":"2024-01-24T00:00:00Z","timestamp":1706054400000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2024,4]]},"abstract":"<jats:title>Abstract<\/jats:title><jats:p>In this paper, we consider the problem of contact parameters (slippage and sinkage) estimation for multi-modal robot locomotion on granular terrains. To describe the contact events in the same framework for robots operated at different modes (e.g., wheel, leg), we propose a unified description of contact parameters for multi-modal robots. We also provide a parameter estimation method for multi-modal robots based on CNN and DWT (discrete wavelet transformation) techniques and verify its effectiveness over different types of granular terrains. Besides motion modes, this paper also considers the influence of slope angles and the robot\u2019s handing angles over contact parameters. Through comparison and analysis of the prediction results, our method can not only effectively predict the contact parameters of multi-modal robot locomotion on a granular medium (better than <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S026357472300187X_inline1.png\"\/><jats:tex-math>\n$96\\%$\n<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula> accuracy) but also achieves the same or better performance when compared to other (direct) contact measurement methods designed for individual motion modes, that is, single-modal robots such as quadruped robots and mars rovers. Our proposed unified contact parameter estimation method can be useful for studying the interaction mechanics between multi-modal robots and granular terrains as well as terrain classification tasks due to its superior sensitivity which is analyzed in the experiments.<\/jats:p>","DOI":"10.1017\/s026357472300187x","type":"journal-article","created":{"date-parts":[[2024,1,24]],"date-time":"2024-01-24T06:10:37Z","timestamp":1706076637000},"page":"1001-1017","source":"Crossref","is-referenced-by-count":2,"title":["A contact parameter estimation method for multi-modal robot locomotion on deformable granular terrains"],"prefix":"10.1017","volume":"42","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1649-5370","authenticated-orcid":false,"given":"Shipeng","family":"Lyu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Wenyao","family":"Zhang","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9875-2192","authenticated-orcid":false,"given":"Chen","family":"Yao","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhengtao","family":"Liu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Yang","family":"Su","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zheng","family":"Zhu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Zhenzhong","family":"Jia","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2024,1,24]]},"reference":[{"key":"S026357472300187X_ref15","article-title":"Methods for wheel slip and sinkage estimation in mobile robots","author":"Reina","year":"2010","journal-title":"IntechOpen"},{"key":"S026357472300187X_ref22","article-title":"Mars rover trapped in sand, but what can end a mission?","volume":"324","author":"Richard","journal-title":"Science."},{"key":"S026357472300187X_ref24","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2017.2652491"},{"key":"S026357472300187X_ref4","doi-asserted-by":"crossref","unstructured":"[4] Ding, L. , Gao, H. , Deng, Z. , Yoshida, K. and Nagatani, K. , \u201cSlip Ratio for Lugged Wheel of Planetary Rover in Deformable Soil: Definition and Estimation,\u201d 2009 IEEE\/RSJ International Conference on Intelligent Robots and Systems (2009) pp. 3343\u20133348.","DOI":"10.1109\/IROS.2009.5354565"},{"key":"S026357472300187X_ref13","doi-asserted-by":"publisher","DOI":"10.1016\/j.robot.2018.03.013"},{"key":"S026357472300187X_ref2","doi-asserted-by":"publisher","DOI":"10.1029\/2008JE003097"},{"key":"S026357472300187X_ref27","doi-asserted-by":"crossref","unstructured":"[27] Marotta, R. , Ivanov, V. , Strano, S. , Terzo, M. and Tordela, C. , \u201cDeep Learning for the Estimation of the Longitudinal Slip Ratio,\u201d 2023 IEEE International Workshop on Metrology for Automotive (MetroAutomotive) (2023) pp. 193\u2013198.","DOI":"10.1109\/MetroAutomotive57488.2023.10219139"},{"key":"S026357472300187X_ref17","doi-asserted-by":"publisher","DOI":"10.1109\/IROS45743.2020.9341521"},{"key":"S026357472300187X_ref20","doi-asserted-by":"publisher","DOI":"10.1007\/s10514-021-10013-w"},{"key":"S026357472300187X_ref3","unstructured":"[3] Oc\u00f3n, J. , Buckley, K. , Colmenero, F. , Bensalem, S. , Dragomir, I. , Karachalios, S. , Woods, M. , Pommerening, F. and Keller, T. , \u201cUsing the Ergo Framework for Space Robotics in a Planetary and an Orbital Scenario,\u201d14th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS) (2018) pp. 4\u20136."},{"key":"S026357472300187X_ref21","doi-asserted-by":"publisher","DOI":"10.1109\/ECMR.2019.8870912"},{"key":"S026357472300187X_ref9","doi-asserted-by":"publisher","DOI":"10.1177\/0278364913498122"},{"key":"S026357472300187X_ref11","doi-asserted-by":"publisher","DOI":"10.1016\/j.ins.2023.119700"},{"key":"S026357472300187X_ref14","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2023.3324291"},{"key":"S026357472300187X_ref12","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21736"},{"key":"S026357472300187X_ref8","doi-asserted-by":"publisher","DOI":"10.1002\/rob.21479"},{"key":"S026357472300187X_ref7","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2979661"},{"key":"S026357472300187X_ref10","doi-asserted-by":"publisher","DOI":"10.3390\/biomimetics8010131"},{"key":"S026357472300187X_ref19","doi-asserted-by":"publisher","DOI":"10.1109\/HUMANOIDS.2016.7803265"},{"key":"S026357472300187X_ref25","doi-asserted-by":"publisher","DOI":"10.3390\/s22082967"},{"key":"S026357472300187X_ref6","unstructured":"[6] Focchi, M. , Barasuol, V. , Frigerio, M. , Caldwell, D. G. and Semini, C. , \u201cSlip Detection and Recovery for Quadruped Robots,\u201d ISRR (2015)."},{"key":"S026357472300187X_ref16","unstructured":"[16] Buchanan, R. , Camurri, M. , Dellaert, F. and Fallon, M. , \u201cLearning Inertial Odometry for Dynamic Legged Robot State Estimation,\u201d Conference on Robot Learning (PMLR) pp. 1575\u20131584."},{"key":"S026357472300187X_ref1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2006.871095"},{"key":"S026357472300187X_ref18","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2022.3211153"},{"key":"S026357472300187X_ref26","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2019.2896732"},{"key":"S026357472300187X_ref23","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2975756"},{"key":"S026357472300187X_ref5","unstructured":"[5] Andrade, G. , Amar, F. B. , Bidaud, P. and Chatila, R. , \u201cModeling Robot-Soil Interaction for Planetary Rover Motion Control,\u201d Proceedings. 1998 IEEE\/RSJ International Conference on Intelligent Robots and Systems. Innovations in Theory, Practice and Applications, vol. 1 (1998) pp. 576\u2013581."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S026357472300187X","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2024,4,5]],"date-time":"2024-04-05T10:21:08Z","timestamp":1712312468000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S026357472300187X\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,1,24]]},"references-count":27,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2024,4]]}},"alternative-id":["S026357472300187X"],"URL":"https:\/\/doi.org\/10.1017\/s026357472300187x","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2024,1,24]]}}}