# Nonvisual Classification of Ground-Condition by Artificial Proprioception in an Amoeba-Inspired Autonomous Walking Robot

arXiv: https://arxiv.org/abs/2608.05684 · HTML: https://mlsanity.com/paper/2608.05684/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 15 references that are in the map.
- First posted on arXiv 6 Aug 2026.

## Builds on (most cited first, 5 of 5)

- [Optuna: A Next-generation Hyperparameter Optimization Framework](https://mlsanity.com/paper/1907.10902/) (2019)
- [Learning Quadrupedal Locomotion over Challenging Terrain](https://mlsanity.com/paper/2010.11251/) (2020)
- [RMA: Rapid Motor Adaptation for Legged Robots](https://mlsanity.com/paper/2107.04034/) (2021)
- [Learning agile and dynamic motor skills for legged robots](https://mlsanity.com/paper/1901.08652/) (2019)
- [Perceptive Locomotion through Nonlinear Model Predictive Control](https://mlsanity.com/paper/2208.08373/) (2022)

## Abstract (arXiv)

Nonvisual classification of ground condition based on a multimodal sensing approach was investigated for an amoeba-inspired autonomous walking robot. To classify ground condition without image sensing and processing, we implemented artificial proprioception by integrating a three-axis accelerometer, eight foot pressure sensors, and reservoir computing (RC). Even when large fluctuations in the sensor outputs are caused by dynamic motions of a four-legged robot in walking, our system can classify the ground condition, flat or rough, with high accuracy. We demonstrate on-site switching of walking gait depending on ground condition in the robot. We also discuss the contribution of each sensor to ground condition classification.