Preprint Open access
Inferring Soil Friction Angle from Robot Foot-Ground Force Histories: A Bayesian Inverse Approach to Proprioceptive Soil Sensing
Foot-ground interaction signals recorded by quadruped robots may enable spatially distributed, in situ characterization of soil strength. As a first step, we test whether the internal friction angle $φ$ of cohesionless soil can be identified from the force history of a simplified rotating leg. A two-dimensional continu …