> For the complete documentation index, see [llms.txt](https://2022.istvs.org/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://2022.istvs.org/papers/5800.md). # 5800 / Interaction Modeling and Dynamic Control Strategy for C-Shaped Leg with Sandy Terrain... Title: Interaction Modeling and Dynamic Control Strategy for C-Shaped Leg with Sandy Terrain in Terradynamics Authors: Chuanxiao Yang, Zhiyue Xin, Xiong Hu, Shibin Sun, Liang Ding, and Dewei Tang Abstract: High trafficability and robustness on terrain surfaces composed of granular substrates can be obtained through configurations of C-shaped legs. Recently, C-shaped configuration has been widely used in the locomotion mechanism design of the legged mobile robots on harsh grounds, especially for sandy terrains. In case of rotational gait, based on the stress-macro deformation relationship according to the Resistive Force Theory (RFT) in terradynamics, an interaction model between a C-shaped leg and the sandy terrain is established in this paper. Considering the influence of velocity field of C- leg particle systems on Fourier linear coefficient in fitting precondition, the inversion characters of mechanical parameters through integral derivation and linearized expression of the model are established. Then, the experimental data samples are employed to identify the mechanical parameters of the sandy terrain, followed by checking its validity through setting a limit for the tolerance between predicted results and experimental data. Furthermore, mechanical behaviors under swing gaits are analyzed, for which some basic dynamic control strategies are suggested in this study. In this work, the outputs of driving torque within the range of a feasible region experienced at the joint are explored. It is concluded that the mechanical properties dominated by the sandy terrain and leg geometry can be revealed by the identified parameters, some driving outputs can be evaluated through interaction models in terradynamics. Order the full paper: ISTVS members: receive three papers per year as part of your membership via the ISTVS Member Portal: --- # Agent Instructions This documentation is published with GitBook. GitBook is the documentation platform designed so that both humans and AI agents can read, navigate, and reason over technical content effectively. Learn more at gitbook.com. ## Querying This Documentation If you need additional information that is not directly available in this page, you can query the documentation dynamically by asking a question. Perform an HTTP GET request on the current page URL with the `ask` query parameter, and the optional `goal` query parameter: ``` GET https://2022.istvs.org/papers/5800.md?ask=&goal= ``` `ask` is the immediate question: it should be specific, self-contained, and written in natural language. `goal` is optional and describes the broader end goal you are ultimately trying to accomplish on behalf of the user. GitBook uses it to tailor the answer towards what is most useful for that goal. The response will contain a direct answer to the question and relevant excerpts and sources from the documentation. Use this mechanism when the answer is not explicitly present in the current page, you need clarification or additional context, or you want to retrieve related documentation sections.