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cs.RO2025
Safe Active Navigation and Exploration for Planetary Environments Using Proprioceptive Measurements
Matthew Jiang, Shipeng Liu, Feifei Qian
Legged robots can sense terrain through force interactions during locomotion, offering more reliable traversability estimates than remote sensing and serving as scouts for guiding…
cs.RO2025
Bio-inspired tail oscillation enables robot fast crawling on deformable granular terrains
Shipeng Liu, Meghana Sagare, Shubham Patil +1
Deformable substrates such as sand and mud present significant challenges for terrestrial robots due to complex robot-terrain interactions. Inspired by mudskippers, amphibious anim…
cs.RO2025
Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties
Shipeng Liu, Jiaze Tang, Siyuan Meng +1
Muddy terrains present significant challenges for terrestrial robots, as subtle changes in composition and water content can lead to large variations in substrate strength and forc…