MI-HGNN: Morphology-Informed Heterogeneous Graph Neural Network for Legged Robot Contact Perception

Daniel Butterfield, Sandilya Sai Garimella, Nai-Jen Cheng +1

We present a Morphology-Informed Heterogeneous Graph Neural Network (MI-HGNN) for learning-based contact perception. The architecture and connectivity of the MI-HGNN are constructe…