Hai-Bo Gao

Terramechanics-Aware Adaptive Quadrupedal Locomotion via Foot-Terrain Interaction Model

Locomotion on granular terrain is an essential capability for quadrupedal robots in field applications such as planetary exploration: soft soil yields under load, dissipates propulsive energy, and often alternates abruptly with rigid ground. On such substrates, the mismatch between idealized rigid-contact training and...