{"id":"https://openalex.org/W4387322879","doi":"https://doi.org/10.48550/arxiv.2310.01273","title":"Learning manipulation of steep granular slopes for fast Mini Rover turning","display_name":"Learning manipulation of steep granular slopes for fast Mini Rover turning","publication_year":2023,"publication_date":"2023-10-02","ids":{"openalex":"https://openalex.org/W4387322879","doi":"https://doi.org/10.48550/arxiv.2310.01273"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2310.01273","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.01273","pdf_url":"https://arxiv.org/pdf/2310.01273","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2310.01273","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5014063165","display_name":"Deniz Kerimo\u011flu","orcid":"https://orcid.org/0000-0002-1193-4680"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Kerimoglu, Deniz","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5045306737","display_name":"Daniel Soto","orcid":"https://orcid.org/0009-0008-9216-5596"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Soto, Daniel","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5092998272","display_name":"Malone Lincoln Hemsley","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Hemsley, Malone Lincoln","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111525837","display_name":"Joseph Brunner","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Brunner, Joseph","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5064581452","display_name":"Sehoon Ha","orcid":"https://orcid.org/0000-0002-1972-328X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ha, Sehoon","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5086928709","display_name":"Tingnan Zhang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Zhang, Tingnan","raw_affiliation_strings":[],"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5078622216","display_name":"Daniel I. Goldman","orcid":"https://orcid.org/0000-0002-6954-9857"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Goldman, Daniel I.","raw_affiliation_strings":[],"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5014063165"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":true,"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":0.9972000122070312,"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":0.9972000122070312,"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/T12677","display_name":"Sports Dynamics and Biomechanics","score":0.9961000084877014,"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/T12290","display_name":"Human Motion and Animation","score":0.9605000019073486,"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"}}],"keywords":[{"id":"https://openalex.org/keywords/traverse","display_name":"Traverse","score":0.7669926881790161},{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7189681529998779},{"id":"https://openalex.org/keywords/regolith","display_name":"Regolith","score":0.6090096831321716},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5641582608222961},{"id":"https://openalex.org/keywords/geology","display_name":"Geology","score":0.4955695867538452},{"id":"https://openalex.org/keywords/planetary-exploration","display_name":"Planetary exploration","score":0.4488976001739502},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.4155375063419342},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.40819981694221497},{"id":"https://openalex.org/keywords/aerospace-engineering","display_name":"Aerospace engineering","score":0.3889382481575012},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3580007553100586},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.2759471833705902},{"id":"https://openalex.org/keywords/geodesy","display_name":"Geodesy","score":0.21306905150413513},{"id":"https://openalex.org/keywords/mars-exploration-program","display_name":"Mars Exploration Program","score":0.19849365949630737},{"id":"https://openalex.org/keywords/astrobiology","display_name":"Astrobiology","score":0.14670956134796143},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.14449897408485413},{"id":"https://openalex.org/keywords/geography","display_name":"Geography","score":0.09453609585762024}],"concepts":[{"id":"https://openalex.org/C176809094","wikidata":"https://www.wikidata.org/wiki/Q15401496","display_name":"Traverse","level":2,"score":0.7669926881790161},{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7189681529998779},{"id":"https://openalex.org/C41642174","wikidata":"https://www.wikidata.org/wiki/Q106551","display_name":"Regolith","level":2,"score":0.6090096831321716},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5641582608222961},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.4955695867538452},{"id":"https://openalex.org/C2989411428","wikidata":"https://www.wikidata.org/wiki/Q2368937","display_name":"Planetary exploration","level":3,"score":0.4488976001739502},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.4155375063419342},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.40819981694221497},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.3889382481575012},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3580007553100586},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.2759471833705902},{"id":"https://openalex.org/C13280743","wikidata":"https://www.wikidata.org/wiki/Q131089","display_name":"Geodesy","level":1,"score":0.21306905150413513},{"id":"https://openalex.org/C83260615","wikidata":"https://www.wikidata.org/wiki/Q6773121","display_name":"Mars Exploration Program","level":2,"score":0.19849365949630737},{"id":"https://openalex.org/C87355193","wikidata":"https://www.wikidata.org/wiki/Q411","display_name":"Astrobiology","level":1,"score":0.14670956134796143},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.14449897408485413},{"id":"https://openalex.org/C205649164","wikidata":"https://www.wikidata.org/wiki/Q1071","display_name":"Geography","level":0,"score":0.09453609585762024},{"id":"https://openalex.org/C58640448","wikidata":"https://www.wikidata.org/wiki/Q42515","display_name":"Cartography","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C42407357","wikidata":"https://www.wikidata.org/wiki/Q521","display_name":"Physiology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"pmh:oai:arXiv.org:2310.01273","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.01273","pdf_url":"https://arxiv.org/pdf/2310.01273","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},{"id":"doi:10.48550/arxiv.2310.01273","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2310.01273","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2310.01273","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2310.01273","pdf_url":"https://arxiv.org/pdf/2310.01273","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":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":true,"grobid_xml":true},"content_urls":{"pdf":"https://content.openalex.org/works/W4387322879.pdf","grobid_xml":"https://content.openalex.org/works/W4387322879.grobid-xml"},"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2702652441","https://openalex.org/W1975647864","https://openalex.org/W4294690775","https://openalex.org/W4200195314","https://openalex.org/W4389574494","https://openalex.org/W2156329176","https://openalex.org/W2136213179","https://openalex.org/W3132129980","https://openalex.org/W2545128643","https://openalex.org/W2153137868"],"abstract_inverted_index":{"Future":[0],"planetary":[1],"exploration":[2],"missions":[3],"will":[4,70],"require":[5],"reaching":[6],"challenging":[7,48],"regions":[8,16],"such":[9,171],"as":[10,172],"craters":[11],"and":[12,19,67,87,100,125,168,176,212],"steep":[13,106],"slopes.":[14],"Such":[15],"are":[17,37,60],"ubiquitous":[18],"present":[20],"science-rich":[21],"targets":[22],"potentially":[23],"containing":[24],"information":[25],"regarding":[26],"the":[27,55,64,114,141,147,191,195,227],"planet's":[28],"internal":[29],"structure.":[30],"Steep":[31],"slopes":[32],"consisting":[33],"of":[34,58,109,122,140,146],"low-cohesion":[35],"regolith":[36],"prone":[38],"to":[39,52,72,82,112,131,156,188,197],"flow":[40],"downward":[41],"under":[42],"small":[43],"disturbances,":[44],"making":[45],"it":[46,130],"very":[47],"for":[49],"autonomous":[50],"rovers":[51,59],"traverse.":[53],"Moreover,":[54],"navigation":[56],"trajectories":[57],"heavily":[61],"limited":[62],"by":[63,222],"terrain":[65],"topology":[66],"future":[68],"systems":[69],"need":[71],"maneuver":[73],"on":[74,104],"flowable":[75],"surfaces":[76],"without":[77],"getting":[78],"trapped,":[79],"allowing":[80,129],"them":[81],"further":[83,189],"expand":[84],"their":[85],"reach":[86],"increase":[88],"mission":[89],"efficiency.":[90],"In":[91],"this":[92],"work,":[93],"we":[94,215],"used":[95,152,185],"a":[96,105,179],"laboratory-scale":[97],"rover":[98,119,142,196],"robot":[99],"performed":[101],"maneuvering":[102],"experiments":[103],"granular":[107,149],"slope":[108],"poppy":[110],"seeds":[111],"explore":[113],"rover's":[115],"turning":[116,161,192,219],"capabilities.":[117],"The":[118,136],"is":[120,220],"capable":[121],"lifting,":[123],"sweeping,":[124],"spinning":[126,175],"its":[127],"wheels,":[128],"execute":[132],"leg-like":[133],"gait":[134,210],"patterns.":[135],"high-dimensional":[137],"actuation":[138],"capabilities":[139],"facilitate":[143],"effective":[144],"manipulation":[145],"underlying":[148],"surface.":[150],"We":[151,183],"Bayesian":[153],"Optimization":[154],"(BO)":[155],"gain":[157],"insight":[158],"into":[159],"successful":[160],"gaits":[162],"in":[163],"high":[164],"dimensional":[165],"search":[166],"space":[167],"found":[169,216],"strategies":[170],"differential":[173],"wheel":[174],"pivoting":[177],"around":[178],"single":[180],"sweeping":[181,228],"wheel.":[182,229],"then":[184],"these":[186],"insights":[187],"fine-tune":[190],"gait,":[193],"enabling":[194],"turn":[198],"90":[199],"degrees":[200],"at":[201],"just":[202],"above":[203],"4":[204],"seconds":[205],"with":[206,226],"minimal":[207],"slip.":[208],"Combining":[209],"optimization":[211],"human-tuning":[213],"approaches,":[214],"that":[217],"fast":[218],"empowered":[221],"creating":[223],"anisotropic":[224],"torques":[225]},"counts_by_year":[],"updated_date":"2026-03-10T16:38:18.471706","created_date":"2023-10-04T00:00:00"}