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.
A review on locomotion robophysics: The study of movement at the intersection of robotics, soft matter and dynamical systems
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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.