Cover Image

A Foot Resistive Force Model for Legged Locomotion on Muddy Terrains

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Chen, Xunjie, Wang, Liuyin, Huang, Xinyan, Shan, Jerry, Shen, Yantao, Yi, Jingang
Format:	Preprint
Published:	2026
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

A Reduced-Order Resistive Force Model for Robotic Foot-Mud Interactions
by: Chen, Xunjie, et al.
Published: (2024)

Foot Shape-Dependent Resistive Force Model for Bipedal Walkers on Granular Terrains
by: Chen, Xunjie, et al.
Published: (2024)

Bipedal-Walking-Dynamics Model on Granular Terrains
by: Chen, Xunjie, et al.
Published: (2026)

Contingency Model Predictive Control for Bipedal Locomotion on Moving Surfaces with a Linear Inverted Pendulum Model
by: Chen, Kuo, et al.
Published: (2024)

Assistive Control of Knee Exoskeletons for Human Walking on Granular Terrains
by: Zhu, Chunchu, et al.
Published: (2024)

Biomechanical Comparison of Human Walking Locomotion on Solid Ground and Sand
by: Zhu, Chunchu, et al.
Published: (2024)

Adaptive Force-Based Control of Dynamic Legged Locomotion over Uneven Terrain
by: Sombolestan, Mohsen, et al.
Published: (2023)

BarlowWalk: Self-supervised Representation Learning for Legged Robot Terrain-adaptive Locomotion
by: Huang, Haodong, et al.
Published: (2025)

Learning Locomotion on Complex Terrain for Quadrupedal Robots with Foot Position Maps and Stability Rewards
by: Hwang, Matthew, et al.
Published: (2026)

Adaptive Step Duration for Accurate Foot Placement: Achieving Robust Bipedal Locomotion on Terrains with Restricted Footholds
by: Xiang, Zhaoyang, et al.
Published: (2024)

PGTT: Phase-Guided Terrain Traversal for Perceptive Legged Locomotion
by: Ntagkas, Alexandros, et al.
Published: (2025)

Learning Agile Locomotion on Risky Terrains
by: Zhang, Chong, et al.
Published: (2023)

GenTe: Generative Real-world Terrains for General Legged Robot Locomotion Control
by: Wan, Hanwen, et al.
Published: (2025)

Learning Perceptive Humanoid Locomotion over Challenging Terrain
by: Sun, Wandong, et al.
Published: (2025)

Contact-Rich and Deformable Foot Modeling for Locomotion Control of the Human Musculoskeletal System
by: Gong, Haixin, et al.
Published: (2025)

Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
by: Piazza, Cristina, et al.
Published: (2024)

Dynamic Adaptive Legged Locomotion Policy via Decoupling Reaction Force Control and Gait Control
by: Wang, Renjie, et al.
Published: (2025)

Walking on Rough Terrain with Any Number of Legs
by: Chen, Zhuoyang, et al.
Published: (2026)

RPL: Learning Robust Humanoid Perceptive Locomotion on Challenging Terrains
by: Zhang, Yuanhang, et al.
Published: (2026)

Physically-Feasible Reactive Synthesis for Terrain-Adaptive Locomotion
by: Zhou, Ziyi, et al.
Published: (2025)

Learning Vision-Based Bipedal Locomotion for Challenging Terrain
by: Duan, Helei, et al.
Published: (2023)

A Survey of Legged Robotics in Non-Inertial Environments: Past, Present, and Future
by: Chang, I-Chia, et al.
Published: (2026)

CMR: Contractive Mapping Embeddings for Robust Humanoid Locomotion on Unstructured Terrains
by: Zeng, Qixin, et al.
Published: (2026)

Bipedal Safe Navigation over Uncertain Rough Terrain: Unifying Terrain Mapping and Locomotion Stability
by: Muenprasitivej, Kasidit, et al.
Published: (2024)

PTRL: Prior Transfer Deep Reinforcement Learning for Legged Robots Locomotion
by: Huang, Haodong, et al.
Published: (2025)

Learning Humanoid Locomotion over Challenging Terrain
by: Radosavovic, Ilija, et al.
Published: (2024)

Global-Local Attention Decomposition for Terrain Encoding in Humanoid Perceptive Locomotion
by: Fu, Shengcheng, et al.
Published: (2026)

Disturbance-Aware Adaptive Compensation in Hybrid Force-Position Locomotion Policy for Legged Robots
by: Zhang, Yang, et al.
Published: (2025)

Scaling Rough Terrain Locomotion with Automatic Curriculum Reinforcement Learning
by: Li, Ziming, et al.
Published: (2026)

Learning Generic and Dynamic Locomotion of Humanoids Across Discrete Terrains
by: Yu, Shangqun, et al.
Published: (2024)

Embodied Design for Enhanced Flipper-Based Locomotion in Complex Terrains
by: Chikere, Nnamdi, et al.
Published: (2024)

Advancing Humanoid Locomotion: Mastering Challenging Terrains with Denoising World Model Learning
by: Gu, Xinyang, et al.
Published: (2024)

RL-augmented Adaptive Model Predictive Control for Bipedal Locomotion over Challenging Terrain
by: Kamohara, Junnosuke, et al.
Published: (2025)

An End-to-End Framework for Optimizing Foot Trajectory and Force in Dry Adhesion Legged Wall-Climbing Robots
by: Xiao, Jichun, et al.
Published: (2025)

Beyond Robustness: Learning Unknown Dynamic Load Adaptation for Quadruped Locomotion on Rough Terrain
by: Chang, Leixin, et al.
Published: (2025)

Leveraging Symmetry in RL-based Legged Locomotion Control
by: Su, Zhi, et al.
Published: (2024)

Fast Decentralized State Estimation for Legged Robot Locomotion via EKF and MHE
by: Kang, Jiarong, et al.
Published: (2024)

Load-bearing Assessment for Safe Locomotion of Quadruped Robots on Collapsing Terrain
by: Medeiros, Vivian S., et al.
Published: (2025)

KCFRC: Kinematic Collision-Aware Foothold Reachability Criteria for Legged Locomotion
by: Ye, Lei, et al.
Published: (2026)

TAIL: A Terrain-Aware Multi-Modal SLAM Dataset for Robot Locomotion in Deformable Granular Environments
by: Yao, Chen, et al.
Published: (2024)