{"id":"https://openalex.org/W7164149635","doi":"https://doi.org/10.48550/arxiv.2606.10273","title":"Locomotion analysis of a quadruped interacting with the lunar granular surface","display_name":"Locomotion analysis of a quadruped interacting with the lunar granular surface","publication_year":2026,"publication_date":"2026-06-09","ids":{"openalex":"https://openalex.org/W7164149635","doi":"https://doi.org/10.48550/arxiv.2606.10273"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2606.10273","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10273","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2606.10273","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5138378072","display_name":"Yash J Vyas","orcid":null},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Vyas, Yash J","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":["https://openalex.org/A5138378072"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9375,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10879","display_name":"Robotic Locomotion and Control","score":0.9375,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T12784","display_name":"Modular Robots and Swarm Intelligence","score":0.020400000736117363,"subfield":{"id":"https://openalex.org/subfields/2210","display_name":"Mechanical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10868","display_name":"Soft Robotics and Applications","score":0.013199999928474426,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/terrain","display_name":"Terrain","score":0.7206000089645386},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6690999865531921},{"id":"https://openalex.org/keywords/quadrupedalism","display_name":"Quadrupedalism","score":0.6398000121116638},{"id":"https://openalex.org/keywords/regolith","display_name":"Regolith","score":0.5382999777793884},{"id":"https://openalex.org/keywords/gait","display_name":"Gait","score":0.42559999227523804},{"id":"https://openalex.org/keywords/terrestrial-locomotion","display_name":"Terrestrial locomotion","score":0.41019999980926514},{"id":"https://openalex.org/keywords/contact-force","display_name":"Contact force","score":0.3813000023365021},{"id":"https://openalex.org/keywords/energy","display_name":"Energy (signal processing)","score":0.35280001163482666}],"concepts":[{"id":"https://openalex.org/C161840515","wikidata":"https://www.wikidata.org/wiki/Q186131","display_name":"Terrain","level":2,"score":0.7206000089645386},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6690999865531921},{"id":"https://openalex.org/C134181672","wikidata":"https://www.wikidata.org/wiki/Q21907045","display_name":"Quadrupedalism","level":2,"score":0.6398000121116638},{"id":"https://openalex.org/C41642174","wikidata":"https://www.wikidata.org/wiki/Q106551","display_name":"Regolith","level":2,"score":0.5382999777793884},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5217000246047974},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.45570001006126404},{"id":"https://openalex.org/C151800584","wikidata":"https://www.wikidata.org/wiki/Q2370000","display_name":"Gait","level":2,"score":0.42559999227523804},{"id":"https://openalex.org/C532751654","wikidata":"https://www.wikidata.org/wiki/Q2535935","display_name":"Terrestrial locomotion","level":2,"score":0.41019999980926514},{"id":"https://openalex.org/C81302111","wikidata":"https://www.wikidata.org/wiki/Q2916417","display_name":"Contact force","level":2,"score":0.3813000023365021},{"id":"https://openalex.org/C186370098","wikidata":"https://www.wikidata.org/wiki/Q442787","display_name":"Energy (signal processing)","level":2,"score":0.35280001163482666},{"id":"https://openalex.org/C67203356","wikidata":"https://www.wikidata.org/wiki/Q1321905","display_name":"Reinforcement","level":2,"score":0.32710000872612},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.32710000872612},{"id":"https://openalex.org/C32568104","wikidata":"https://www.wikidata.org/wiki/Q1155083","display_name":"Granular material","level":2,"score":0.32659998536109924},{"id":"https://openalex.org/C97541855","wikidata":"https://www.wikidata.org/wiki/Q830687","display_name":"Reinforcement learning","level":2,"score":0.32280001044273376},{"id":"https://openalex.org/C127313418","wikidata":"https://www.wikidata.org/wiki/Q1069","display_name":"Geology","level":0,"score":0.3059999942779541},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.29789999127388},{"id":"https://openalex.org/C6101204","wikidata":"https://www.wikidata.org/wiki/Q7353391","display_name":"Robot locomotion","level":5,"score":0.2971000075340271},{"id":"https://openalex.org/C2775960376","wikidata":"https://www.wikidata.org/wiki/Q1435859","display_name":"Grippers","level":2,"score":0.2777000069618225},{"id":"https://openalex.org/C146978453","wikidata":"https://www.wikidata.org/wiki/Q3798668","display_name":"Aerospace engineering","level":1,"score":0.26429998874664307},{"id":"https://openalex.org/C2779908020","wikidata":"https://www.wikidata.org/wiki/Q1424704","display_name":"Legged robot","level":3,"score":0.2581000030040741},{"id":"https://openalex.org/C2778931886","wikidata":"https://www.wikidata.org/wiki/Q5164827","display_name":"Contact dynamics","level":2,"score":0.2526000142097473},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.2508000135421753}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2606.10273","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10273","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2606.10273","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2606.10273","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by","license_id":"https://openalex.org/licenses/cc-by","version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Preprint"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"Deploying":[0],"legged":[1,54],"robots":[2,55],"in":[3,83,153],"extra-terrestrial":[4],"environments":[5,72],"includes":[6],"many":[7],"challenges":[8,146],"due":[9],"to":[10,71,103],"complex":[11],"terrain":[12],"interactions,":[13],"energy,":[14],"and":[15,35,56,85,124,131,158],"thermal":[16],"constraints.":[17],"For":[18],"effective":[19],"mechanical":[20],"design":[21],"of":[22,30,37,46,53,94],"a":[23,104,154],"lunar":[24,42,97],"exploration":[25],"quadrupedal":[26],"robot,":[27],"careful":[28],"consideration":[29],"motor":[31],"torques,":[32],"energy":[33,162],"expenditure,":[34],"cost":[36],"transport":[38],"is":[39,44,101,115],"required.":[40],"The":[41,135],"surface":[43],"composed":[45],"granular":[47,78,96],"regolith,":[48],"which":[49,80],"impacts":[50],"the":[51,91,95,118,129,160],"locomotion":[52,108,132],"their":[57],"performance.":[58],"Locomotion":[59],"algorithms":[60],"trained":[61,109,120],"with":[62,73,107],"rigid":[63,122],"contact":[64,123,126],"assumptions":[65],"are":[66],"also":[67],"ineffective":[68],"when":[69],"applied":[70,102],"soft":[74,125,139],"contacts,":[75],"such":[76],"as":[77],"surfaces,":[79],"can":[81],"result":[82,152],"instability":[84],"poor":[86],"tracking.":[87],"In":[88],"this":[89],"report,":[90],"physical":[92],"modelling":[93],"surface-robot":[98],"foot":[99],"contacts":[100,140],"simulation":[105],"environment":[106],"using":[110],"Reinforcement":[111,148],"Learning.":[112],"A":[113],"comparison":[114],"conducted":[116],"between":[117],"policy":[119],"on":[121],"environments,":[127],"analysing":[128],"gait":[130],"performance":[133],"metrics.":[134],"analysis":[136],"demonstrates":[137],"that":[138],"simulating":[141],"regolith":[142],"surfaces":[143],"pose":[144],"additional":[145],"for":[147],"Learning":[149],"based":[150],"training,":[151],"qualitatively":[155],"different":[156],"gait,":[157],"increase":[159],"overall":[161],"expenditure.":[163]},"counts_by_year":[],"updated_date":"2026-07-28T07:46:37.118299","created_date":"2026-06-11T00:00:00"}