A new bipedal walking dynamics model on granular media adds three DoFs for foot sinkage and slip, integrated with GRF computation and validated via robot experiments on sand for CoT and intrusion predictions.
Cost of transport esti- mation for legged robot based on terrain features infer- ence from aerial scan
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Bipedal-Walking-Dynamics Model on Granular Terrains
A new bipedal walking dynamics model on granular media adds three DoFs for foot sinkage and slip, integrated with GRF computation and validated via robot experiments on sand for CoT and intrusion predictions.