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.
Slip walking over rough terrain via h-lip stepping and backstepping-barrier function in- spired quadratic program
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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.