Movement Environment Assessment and Force Prediction for Quadruped Robots

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Footpad forces during contact were significantly higher than during noncontact states, enhancing motion stability.
The model achieved over 90% accuracy in predicting footpad forces based on joint angular torque, confirming its effectiveness.
Experimental validation showed that denser soil positively influenced the performance and stability of the quadruped robot.
Comparative analysis of torque states provided insights for accurate environmental assessment and trajectory planning.

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Analysis demonstrates the impact of soil density on joint angular torque and footpad forces in quadruped robots, implying improved path planning.

Chen et al. (2025) studied this question.

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Analysis demonstrates the impact of soil density on joint angular torque and footpad forces in quadruped robots, implying improved path planning.