A dynamics-aware proprioceptive estimator recovers granular stiffness parameters consistently across hopping speeds by decomposing forces into inertia, gravity, and acceleration-dependent added-mass effects from grain entrainment.
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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.
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From Impact to Insight: Dynamics-Aware Proprioceptive Terrain Sensing on Granular Media
A dynamics-aware proprioceptive estimator recovers granular stiffness parameters consistently across hopping speeds by decomposing forces into inertia, gravity, and acceleration-dependent added-mass effects from grain entrainment.
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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.