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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
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