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.
Biomechanical compari- son of human walking locomotion on solid ground and sand,
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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.