Slope-induced speed loss in legged robots on granular media is driven by delayed anchoring and increased backward slip, enabling failure phase diagrams for quantitative risk estimation.
An expression for the angle of repose of dry cohesive granular materials on earth and in planetary environments,
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Failure Mechanisms and Risk Estimation for Legged Robot Locomotion on Granular Slopes
Slope-induced speed loss in legged robots on granular media is driven by delayed anchoring and increased backward slip, enabling failure phase diagrams for quantitative risk estimation.