From Impact to Insight: Dynamics-Aware Proprioceptive Terrain Sensing on Granular Media

arXiv:2604.02563 · cs.RO · Submitted 2026-04-02 · Read on arXiv

cs.RO

Submitted: 2026-04-02

Updated: 2026-10-09

Terminology

• Accuracy — 6× in this paper · explained in 1 episode
• Adaptation — 2× in this paper · explained in 1 episode
• Entrainment — 2× in this paper · explained in 2 episodes
• Fidelity — 2× in this paper · explained in 2 episodes
• National Science Foundation — 2× in this paper
• Cooperation — 1× in this paper · explained in 2 episodes
• Interpretability — 1× in this paper · explained in 15 episodes
• Phase Transition — 1× in this paper · explained in 2 episodes
• Phase Transitions — 1× in this paper · explained in 2 episodes
• Systematic Bias — 1× in this paper · explained in 3 episodes
• World Model — 1× in this paper · explained in 7 episodes

Sources

• Adaptive Locomotion on Mud through Proprioceptive Sensing of Substrate Properties
• A bio-inspired sand-rolling robot: effect of body shape on sand rolling performance
• Effect of Gait Design on Proprioceptive Sensing of Terrain Properties in a Quadrupedal Robot
• Scout-Rover cooperation: online terrain strength mapping and traversal risk estimation for planetary-analog explorations

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