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.
Adaptive locomotion on mud through proprioceptive sensing of substrate properties
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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.