Dual-Horizon Hybrid Internal Model for Low-Gravity Quadrupedal Jumping with Hardware-in-the-Loop Validation

Description

Locomotion under reduced gravity is commonly realized through jumping, yet continuous pronking in lunar gravity remains challenging due to prolonged flight phases and sparse ground contact. The extended aerial duration increases landing impact sensitivity and makes stable attitude regulation over rough planetary terrain difficult. Existing approaches primarily address single jumps on flat surfaces and lack both continuous-terrain solutions and realistic hardware validation. This work presents a

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