@article{towardsterrainawaresafelocomotionforquad,
  title = {Towards Terrain-Aware Safe Locomotion for Quadrupedal Robots Using Proprioceptive Sensing},
  author = {Peiyu Yang and Jiatao Ding and Wei Pan and Claudio Semini and Cosimo Della Santina},
  year = {2026},
  eprint = {2603.09585},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2603.09585},
}