Effect of Limb Kinematics on Legged Robot Speed on Granular Media
The effect of limb kinematics on the speed of a legged robot on granular media
This research investigates how limb kinematics affect the speed of a legged robot (SandBot) moving on granular media like sand. The authors combine an existing kinematic model with a new force law to predict performance, finding that high speed is achieved only within a small region of parameter space where body acceleration and limb interference are minimized.
The study presents a kinematic model and anisotropic granular penetration force law to predict locomotion speed on sand, identifying that optimal performance occurs when gait parameters minimize body acceleration and limb interference while leveraging granular solidification.
Source: arXiv Robotics — research abstracts · Read original article ↗
Loading article text…
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
- paper: not_reported
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
Source：arXiv Robotics — research abstracts · arxiv.org