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cs.RO2026
A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains
Xunjie Chen, Liuyin Wang, Xinyan Huang +3
Legged robots face significant challenges in moving and navigating on deformable and highly yielding terrain such as mud. We present a resistive force model for legged foot-mud int…
cs.RO2026
Bipedal-Walking-Dynamics Model on Granular Terrains
Xunjie Chen, Xinyan Huang, Peter Shan +2
Bipeds have demonstrated high agility and mobility in unstructured environments such as sand. The yielding of such granular media brings significant sinkage and slip of the bipedal…